improved base classes

.gitignore

@@ -1,3 +1,4 @@
+cmake-wsl-build-debug
 cmake-build-debug/
 .idea/
 build/

CMakeLists.txt

@@ -164,3 +164,4 @@ message(STATUS ${summary})
 
 # Additional applications
 add_subdirectory(source/applications)
+add_subdirectory(source/creator)

cmake/external/glad.cmake

@@ -3,7 +3,13 @@ include(${CMAKE_SOURCE_DIR}/cmake/tools/CPM.cmake)
 CPMAddPackage(
     NAME glad
     GIT_REPOSITORY https://github.com/Dav1dde/glad.git
+    #VERSION 2.0.2
     VERSION 0.1.36
     GIT_PROGRESS TRUE
     OPTIONS "GLAD_EXPORT ON" "GLAD_INSTALL ON"
 )
+
+#if(glad_ADDED)
+#    add_subdirectory("${glad_SOURCE_DIR}/cmake" glad_cmake)
+#    glad_add_library(glad REPRODUCIBLE API gl:core=3.3)
+#endif()

source/CMakeLists.txt

@@ -1,3 +0,0 @@
-add_subdirectory(hpr)
-#add_subdirectory(creator)
-#add_subdirectory(applications)

source/creator/CMakeLists.txt

@@ -1,6 +1,6 @@
 
 project(
-    hyporo
+    hyporo-creator
     VERSION 0.1.0
     LANGUAGES CXX
 )
@@ -13,40 +13,49 @@ set(CMAKE_CXX_STANDARD 20)
 include(GNUInstallDirs)
 
 
-add_executable(${PROJECT_NAME}
-    creator.cpp
+#add_executable(${PROJECT_NAME}
+#    creator.cpp
+#)
 
-        ../hpr/window_system/window_system.cpp
-        ../hpr/window_system/monitor.cpp
-        ../hpr/window_system/window.cpp
-        ../hpr/window_system/glfw/window_system.cpp
-        ../hpr/window_system/glfw/monitor.cpp
-        ../hpr/window_system/glfw/window.cpp
-)
+include(${CMAKE_SOURCE_DIR}/cmake/external/imgui.cmake)
+#message(STATUS "project name: ${PROJECT_NAME}")
+#target_link_libraries(${PROJECT_NAME}
+#    hpr::hpr
+#    imgui
+#)
 
-include(${CMAKE_SOURCE_DIR}/cmake/imgui.cmake)
-message(STATUS "project name: ${PROJECT_NAME}")
-target_link_libraries(${PROJECT_NAME}
-    hpr::hpr
-    imgui
-)
+#target_include_directories(${PROJECT_NAME}
+#    PRIVATE
+#    ../
+#)
 
-target_include_directories(${PROJECT_NAME}
-    PRIVATE
-    ../
-)
+#set(CMAKE_CXX_STANDARD 20)
+#add_executable(testi
+#    test.cpp
+#)
 
+#target_include_directories(testi
+#    PRIVATE
+#    ../
+#)
+
+#target_link_libraries(testi
+#    hpr::hpr
+#    imgui
+#)
 set(CMAKE_CXX_STANDARD 20)
-add_executable(testi
-    test.cpp
-)
 
-target_include_directories(testi
+add_executable(hyporo-creator
+        test2.cpp
+        )
+
+target_include_directories(hyporo-creator
         PRIVATE
         ../
-)
+        )
 
-target_link_libraries(testi
-    hpr::hpr
+target_link_libraries(hyporo-creator
+        hpr::gpu
+        hpr::window-system
         imgui
-)
+        )

source/creator/test.cpp

@@ -25,7 +25,24 @@ const char *fragmentShaderSource = "#version 330 core\n"
                                    "{\n"
                                    "   FragColor = vec4(1.0f, 0.5f, 0.2f, 1.0f);\n"
                                    "}\n\0";
-
+const GLchar* vertexSource = R"glsl(
+    #version 150 core
+    in vec3 position;
+    in vec3 color;
+    in vec2 texcoord;
+    out vec3 Color;
+    out vec2 Texcoord;
+    uniform mat4 model;
+    uniform mat4 view;
+    uniform mat4 proj;
+    uniform vec3 overrideColor;
+    void main()
+    {
+        Color = overrideColor * color;
+        Texcoord = texcoord;
+        gl_Position = proj * view * model * vec4(position, 1.0);
+    }
+)glsl";
 int main()
 {
     using namespace hpr;

source/creator/test2.cpp

@@ -0,0 +1,133 @@
+
+#include "hpr/gpu.hpp"
+#include "hpr/window_system/window_system.hpp"
+#include "hpr/window_system/glfw/window_system.hpp"
+#include "hpr/window_system/glfw/window.hpp"
+#include "hpr/math.hpp"
+#include "hpr/mesh.hpp"
+
+#include <imgui.h>
+#include <imgui_impl_glfw.h>
+#include <imgui_impl_opengl3.h>
+#include <iostream>
+
+const char *vertexShaderSource = "#version 330 core\n"
+                                 "layout (location = 0) in vec3 aPos;\n"
+                                 "void main()\n"
+                                 "{\n"
+                                 "   gl_Position = vec4(aPos.x, aPos.y, aPos.z, 1.0);\n"
+                                 "}\0";
+const char *fragmentShaderSource = "#version 330 core\n"
+                                   "out vec4 FragColor;\n"
+                                   "void main()\n"
+                                   "{\n"
+                                   "   FragColor = vec4(1.0f, 0.5f, 0.2f, 1.0f);\n"
+                                   "}\n\0";
+
+int main()
+{
+    using namespace hpr;
+
+    gpu::WindowSystem *ws = gpu::WindowSystem::create(gpu::WindowContext::Provider::GLFW);
+    gpu::Window *w = ws->newWindow();
+    w->init("test", gpu::Window::Style::Windowed, 0, 0, 600, 400, nullptr, nullptr);
+
+    if (!gladLoadGLLoader((GLADloadproc) glfwGetProcAddress))
+        throw std::runtime_error("Cannot initialize gl context");
+
+    gpu::Shader vshader {gpu::Shader::Type::Vertex, vertexShaderSource};
+    gpu::Shader fshader {gpu::Shader::Type::Fragment, fragmentShaderSource};
+    gpu::ShaderProgram sprogram {};
+
+    vshader.create();
+    fshader.create();
+    sprogram.create();
+    sprogram.attach(vshader);
+    sprogram.attach(fshader);
+    sprogram.link();
+    for (auto& sh : sprogram.shaders())
+        std::cout << sh.index() << std::endl;
+
+
+    darray<float> vertices {
+            0.5f,  0.5f, 0.0f,  // top right
+            0.5f, -0.5f, 0.0f,  // bottom right
+            -0.5f, -0.5f, 0.0f,  // bottom left
+            -0.5f,  0.5f, 0.0f   // top left
+    };
+    darray<unsigned int> indices2 {  // note that we start from 0!
+            0, 1, 3,  // first Triangle
+            1, 2, 3   // second Triangle
+    };
+
+    gpu::ArrayObject vao {};
+    gpu::BufferObject vbo {gpu::BufferObject::Type::Vertex};
+    gpu::BufferObject ebo {gpu::BufferObject::Type::Index};
+
+    vao.create();
+    vao.bind();
+    vbo.create<float>(vertices);
+    ebo.create<unsigned int>(indices2);
+    vao.attribPointer(vbo, 0, 3);
+    vao.unbind();
+
+    gpu::Viewport viewport {{0, 0}, {600, 400}};
+    gpu::ColorBuffer colorBuffer;
+    gpu::DepthBuffer depthBuffer {true};
+
+    IMGUI_CHECKVERSION();
+    ImGui::CreateContext();
+
+    ImGuiIO& io = ImGui::GetIO();
+    io.ConfigFlags |= ImGuiConfigFlags_NavEnableKeyboard;
+    io.ConfigFlags |= ImGuiConfigFlags_DockingEnable;
+
+    ImGui::StyleColorsDark();
+
+    ImGui_ImplGlfw_InitForOpenGL(dynamic_cast<gpu::glfw::Window*>(w)->instance(), true);
+    ImGui_ImplOpenGL3_Init("#version 420");
+
+    while (w->isOpen())
+    {
+        viewport.set();
+
+        colorBuffer.clear({0.8f, 0.2f, 0.2f, 1.0f});
+        depthBuffer.clear();
+
+        sprogram.bind();
+        vao.bind();
+
+        glDrawArrays(GL_TRIANGLES, 0, 6);
+
+        ImGui_ImplOpenGL3_NewFrame();
+        ImGui_ImplGlfw_NewFrame();
+        ImGui::NewFrame();
+
+        bool yes = true;
+        ImGui::ShowDemoWindow(&yes);
+
+        ImGui::Begin("Hello, world!");
+        {
+            if (ImGui::Button("Exit"))
+                w->state(gpu::Window::State::Closed);
+            ImGui::End();
+        }
+
+        ImGui::Render();
+        ImGui_ImplOpenGL3_RenderDrawData(ImGui::GetDrawData());
+        dynamic_cast<gpu::glfw::Window*>(w)->swapBuffers();
+        dynamic_cast<gpu::glfw::Window*>(w)->pollEvents();
+    }
+
+    sprogram.destroy();
+    vshader.destroy();
+    fshader.destroy();
+    vbo.destroy();
+    ebo.destroy();
+    vao.destroy();
+
+    ws->destroyWindow(w);
+    gpu::WindowSystem::destroy(ws);
+
+    return 0;
+}

source/hpr/CMakeLists.txt

@@ -5,6 +5,8 @@ add_subdirectory(containers)
 add_subdirectory(math)
 add_subdirectory(io)
 add_subdirectory(mesh)
+add_subdirectory(geometry)
+
 if(WITH_CSG)
     include(${CMAKE_SOURCE_DIR}/cmake/external/occt.cmake)
     add_subdirectory(csg)

source/hpr/containers/array/static_array.hpp

@@ -4,6 +4,7 @@
 
 #include <limits>
 #include <functional>
+#include <concepts>
 
 
 namespace hpr
@@ -170,7 +171,7 @@ public:
         return const_iterator(p_end);
     }
 
-    [[nodiscard]] virtual
+    [[nodiscard]] virtual constexpr
     size_type size() const
     {
         return size_type(p_end - p_start);

source/hpr/csg/shape.hpp

@@ -364,7 +364,7 @@ public:
     Shape rotate(const vec3& pos, const vec3& axis, double angle)
     {
         gp_Trsf transform;
-        transform.SetRotation(gp_Ax1({pos[0], pos[1], pos[2]}, {axis[0], axis[1], axis[2]}), radians(angle));
+        transform.SetRotation(gp_Ax1({pos[0], pos[1], pos[2]}, {axis[0], axis[1], axis[2]}), rad(angle));
         BRepBuilderAPI_Transform builder {p_shape, transform, true};
 
         return builder.Shape();

source/hpr/geometry.hpp

@@ -0,0 +1,5 @@
+#pragma once
+
+#include "geometry/polytope.hpp"
+#include "geometry/triangle.hpp"
+#include "geometry/tetrahedron.hpp"

source/hpr/geometry/CMakeLists.txt

@@ -0,0 +1,57 @@
+cmake_minimum_required(VERSION 3.16)
+
+project(geometry
+    VERSION "${HPR_PROJECT_VERSION}"
+    LANGUAGES CXX
+)
+
+add_library(${PROJECT_NAME} INTERFACE)
+add_library(${CMAKE_PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
+add_module(${PROJECT_NAME})
+
+file(GLOB ${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_HEADERS
+    "../geometry.hpp" "*.hpp"
+)
+
+foreach(_header_path ${${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_HEADERS})
+    list(APPEND ${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_HEADERS_INTERFACE "$<BUILD_INTERFACE:${_header_path}>")
+endforeach()
+
+target_sources(${PROJECT_NAME}
+    INTERFACE
+        ${${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_HEADERS_INTERFACE}
+        $<INSTALL_INTERFACE:include/${CMAKE_PROJECT_NAME}/${PROJECT_NAME}>
+)
+
+install(
+        TARGETS ${PROJECT_NAME}
+        EXPORT ${PROJECT_NAME}Targets
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}
+        NAMELINK_SKIP
+        INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+install(
+        EXPORT ${PROJECT_NAME}Targets
+        DESTINATION ${CMAKE_INSTALL_LIBDIR}/cmake/${CMAKE_PROJECT_NAME}-${HPR_PROJECT_VERSION}
+        NAMESPACE ${CMAKE_PROJECT_NAME}::
+)
+install(
+        TARGETS ${PROJECT_NAME}
+        LIBRARY DESTINATION ${CMAKE_INSTALL_LIBDIR}/${PROJECT_NAME}
+        NAMELINK_ONLY
+        INCLUDES DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}
+)
+install(
+        DIRECTORY ${PROJECT_SOURCE_DIR}
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${CMAKE_PROJECT_NAME}
+        COMPONENT devel
+        FILES_MATCHING
+        PATTERN "*.h"
+        PATTERN "*.hpp"
+        PATTERN "tests" EXCLUDE
+)
+install(
+        FILES ../${PROJECT_NAME}.hpp
+        DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/${CMAKE_PROJECT_NAME}
+        COMPONENT devel
+)

source/hpr/geometry/polytope.hpp

@@ -0,0 +1,48 @@
+#pragma once
+
+#include "../containers.hpp"
+#include "../math.hpp"
+
+
+namespace hpr::geometry
+{
+
+template <int Dim, int Space>
+class Polytope
+{
+
+public:
+
+    enum class Type
+    {
+        Nullitope = -1,
+        Monon,
+        Dion,
+        Polygon,
+        Polyhedron,
+        Polychoron,
+        Unknown
+    };
+
+protected:
+
+    const int p_dimension;
+    const int p_space;
+    Type p_type;
+    darray<VectorSpace<scalar, Space>> p_points;
+
+public:
+
+    Polytope() :
+        p_dimension {Dim},
+        p_space {Space},
+        p_type {Type::Unknown},
+        p_points {}
+    {}
+
+    virtual
+    ~Polytope() = default;
+
+};
+
+}

source/hpr/gpu.hpp

@@ -1,15 +1,15 @@
 #pragma once
 
-#include "gpu/context.hpp"
+
+#include "gpu/array_object.hpp"
+#include "gpu/buffer_object.hpp"
+#include "gpu/color_buffer.hpp"
+#include "gpu/cull_face.hpp"
+#include "gpu/depth_buffer.hpp"
+#include "gpu/framebuffer.hpp"
+#include "gpu/renderbuffer.hpp"
 #include "gpu/shader.hpp"
 #include "gpu/shader_program.hpp"
-#include "gpu/buffer.hpp"
-#include "gpu/device.hpp"
+#include "gpu/stencil_buffer.hpp"
 #include "gpu/texture.hpp"
-
-#include "gpu/opengl/context.hpp"
-#include "gpu/opengl/shader.hpp"
-#include "gpu/opengl/shader_program.hpp"
-#include "gpu/opengl/buffer.hpp"
-#include "gpu/opengl/device.hpp"
-#include "gpu/opengl/texture.hpp"
+#include "gpu/viewport.hpp"

source/hpr/gpu/CMakeLists.txt

@@ -10,7 +10,7 @@ add_library(${CMAKE_PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 add_module(${PROJECT_NAME})
 
 file(GLOB ${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_HEADERS
-    "../gpu.hpp" "*.hpp" "opengl/*.hpp"
+    "../gpu.hpp" "*.hpp"
 )
 
 foreach(_header_path ${${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_HEADERS})
@@ -18,7 +18,7 @@ foreach(_header_path ${${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_HEADERS})
 endforeach()
 
 file(GLOB ${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_SOURCES
-    "*.cpp" "opengl/*.cpp"
+    "*.cpp"
 )
 
 target_sources(${PROJECT_NAME}

source/hpr/gpu/array_object.cpp

@@ -0,0 +1,2 @@
+#include <glad/glad.h>
+#include "array_object.hpp"

source/hpr/gpu/array_object.hpp

@@ -0,0 +1,104 @@
+#pragma once
+
+#include "buffer_object.hpp"
+
+#include <string>
+
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
+
+namespace hpr::gpu
+{
+
+    class ArrayObject
+    {
+
+
+    protected:
+
+        unsigned int p_index;
+        int p_size;
+        int p_stride;
+        bool p_binded;
+
+    public:
+
+        inline
+        ArrayObject() :
+                p_index {0},
+                p_size {0},
+                p_stride {0},
+                p_binded {false}
+        {}
+
+        virtual
+        ~ArrayObject() = default;
+
+        [[nodiscard]]
+        int size() const
+        {
+            return p_size;
+        }
+
+        [[nodiscard]]
+        unsigned int index() const
+        {
+            return p_index;
+        }
+
+        void create()
+        {
+            glGenVertexArrays(1, &p_index);
+        }
+
+        void bind()
+        {
+            glBindVertexArray(p_index);
+            p_binded = true;
+        }
+
+        void unbind()
+        {
+            glBindVertexArray(0);
+            p_binded = false;
+        }
+
+        bool binded() const
+        {
+            return p_binded;
+        }
+
+        void destroy()
+        {
+            glDeleteVertexArrays(1, &p_index);
+        }
+
+        void attribPointer(BufferObject& buffer, unsigned int location, unsigned int size)
+        {
+            if (buffer.type() == BufferObject::Type::Unknown)
+                throw std::runtime_error("Unknown buffer type");
+            if (!binded())
+                throw std::runtime_error("ArrayObject is not binded");
+            if (!buffer.valid())
+                throw std::runtime_error("BufferObject is invalid");
+
+            buffer.bind();
+            glVertexAttribPointer(location, size, GL_FLOAT, GL_FALSE, sizeof(float) * buffer.offset(), static_cast<void*>(nullptr));
+            glEnableVertexAttribArray(location);
+            buffer.unbind();
+        }
+
+        void draw()
+        {
+
+        }
+
+        inline
+        bool valid() const
+        {
+            return p_index > 0;
+        }
+    };
+
+}

source/hpr/gpu/buffer.cpp

@@ -1,36 +0,0 @@
-
-#include "buffer.hpp"
-
-
-namespace hpr::gpu
-{
-
-Buffer::Buffer() :
-    Context {DeviceAPI::Unknown},
-    p_type {BufferType::Undefined},
-    p_size {0},
-    p_stride {0}
-{}
-
-Buffer::Buffer(DeviceAPI api) :
-    Context {api},
-    p_type {BufferType::Undefined},
-    p_size {0},
-    p_stride {0}
-{}
-
-Buffer::~Buffer() = default;
-
-// Member functions
-
-int Buffer::size() const
-{
-    return p_size;
-}
-
-Buffer::BufferType Buffer::type() const
-{
-    return p_type;
-}
-
-}

source/hpr/gpu/buffer.hpp

@@ -1,52 +0,0 @@
-#pragma once
-
-#include "context.hpp"
-
-#include <string>
-
-
-namespace hpr::gpu
-{
-
-class Buffer : public Context
-{
-    friend class Device;
-
-public:
-
-    enum class BufferType
-    {
-        Undefined,
-        Vertex,
-        Index,
-        Uniform,
-        BufferTypeCount
-    };
-
-protected:
-
-    BufferType p_type;
-    int p_size;
-    int p_stride;
-
-public:
-
-    // Constructors
-
-    Buffer();
-
-    explicit
-    Buffer(DeviceAPI api);
-
-    ~Buffer() override;
-
-    // Member functions
-
-    [[nodiscard]]
-    int size() const;
-
-    [[nodiscard]]
-    BufferType type() const;
-};
-
-} // end namespace hpr::gpu

source/hpr/gpu/buffer_object.cpp

@@ -0,0 +1,27 @@
+
+#include <glad/glad.h>
+#include "buffer_object.hpp"
+
+namespace hpr::gpu
+{
+
+    void BufferObject::bind()
+    {
+        glBindBuffer((GLenum)p_type, p_index);
+        p_binded = true;
+    }
+
+    void BufferObject::unbind()
+    {
+        glBindBuffer((GLenum)p_type, 0);
+        p_binded = false;
+    }
+
+    void BufferObject::destroy()
+    {
+        if (p_type == Type::Unknown)
+            std::runtime_error("Unknown buffer type");
+
+        glDeleteBuffers(1, &p_index);
+    }
+}

source/hpr/gpu/buffer_object.hpp

@@ -0,0 +1,134 @@
+#pragma once
+
+#include "../containers.hpp"
+
+#include <string>
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
+
+
+namespace hpr::gpu
+{
+
+class BufferObject
+{
+
+public:
+
+    enum class Type
+    {
+        Vertex = 0x8892, //GL_ARRAY_BUFFER,
+        Index = 0x8893, //GL_ELEMENT_ARRAY_BUFFER,
+        Uniform = 0x8A11, //GL_UNIFORM_BUFFER,
+        Unknown = -1
+    };
+
+protected:
+
+    Type p_type;
+    unsigned int p_index;
+    int p_size;
+    int p_offset;
+    bool p_binded;
+
+public:
+
+    inline
+    BufferObject() :
+        p_type {Type::Unknown},
+        p_index {0},
+        p_size {0},
+        p_offset {0},
+        p_binded {false}
+    {}
+
+    explicit inline
+    BufferObject(Type type) :
+        p_type {type},
+        p_index {0},
+        p_size {0},
+        p_offset {0},
+        p_binded {false}
+    {}
+
+    virtual
+    ~BufferObject() = default;
+
+    [[nodiscard]]
+    int size() const
+    {
+        return p_size;
+    }
+
+    [[nodiscard]]
+    Type type() const
+    {
+        return p_type;
+    }
+
+    [[nodiscard]]
+    unsigned int index() const
+    {
+        return p_index;
+    }
+
+    [[nodiscard]]
+    unsigned int offset() const
+    {
+        return p_offset;
+    }
+
+    void bind() ;
+
+    void unbind();
+
+    [[nodiscard]]
+    bool binded() const
+    {
+        return p_binded;
+    }
+
+    template <typename T>
+    void create(const darray<T>& data, unsigned int offset = 0)
+    {
+        if (p_type == Type::Unknown)
+            std::runtime_error("Unknown buffer type");
+
+        unsigned int drawType;
+
+        if (p_type == Type::Uniform)
+            drawType = GL_DYNAMIC_DRAW;
+        else
+            drawType = GL_STATIC_DRAW;
+
+        glGenBuffers(1, &p_index);
+        bind();
+        glBufferData((GLenum)p_type, sizeof(T) * data.size(), data.data(), drawType);
+        unbind();
+
+        p_offset = offset;
+    }
+
+    template <typename T>
+    void edit(const darray<T>& data, unsigned int offset = 0)
+    {
+        if (p_type == Type::Unknown)
+            std::runtime_error("Unknown buffer type");
+
+        bind();
+        glBufferSubData(p_type, offset, sizeof(T) * data.size(), data.data());
+        unbind();
+    }
+
+    void destroy();
+
+    [[nodiscard]]
+    inline
+    bool valid() const
+    {
+        return p_index > 0;
+    }
+};
+
+}

source/hpr/gpu/camera.hpp

@@ -0,0 +1,40 @@
+#pragma once
+
+#include "../math.hpp"
+
+
+namespace hpr::gpu
+{
+
+class Camera
+{
+
+protected:
+
+    vec3 p_front;
+    vec3 p_up;
+    vec3 p_left;
+
+    scalar p_yaw;
+    scalar p_pitch;
+    scalar p_roll;
+
+    vec3 p_position;
+    vec3 p_target;
+
+    scalar p_distance;
+
+public:
+
+    Camera() :
+        p_front {0., 0., -1.},
+        p_up {0., 0., 1.},
+        p_left {1., 0., 0.}
+    {}
+
+    virtual
+    ~Camera() = default;
+
+};
+
+}

source/hpr/gpu/color_buffer.hpp

@@ -0,0 +1,68 @@
+#pragma once
+
+#include "../math/vector.hpp"
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
+
+
+
+namespace hpr::gpu
+{
+
+    class ColorBuffer
+    {
+
+    protected:
+
+        bool p_enabledRed;
+        bool p_enabledGreen;
+        bool p_enabledBlue;
+        bool p_enabledAlpha;
+        vec4 p_color;
+
+    public:
+
+        inline
+        ColorBuffer() :
+            p_enabledRed {true},
+            p_enabledGreen {true},
+            p_enabledBlue {true},
+            p_enabledAlpha {true},
+            p_color {}
+        {}
+
+        inline
+        ColorBuffer(bool red, bool green, bool blue, bool alpha) :
+            p_enabledRed {red},
+            p_enabledGreen {green},
+            p_enabledBlue {blue},
+            p_enabledAlpha {alpha},
+            p_color {}
+        {}
+
+        virtual
+        ~ColorBuffer() = default;
+
+        void mask(bool red, bool green, bool blue, bool alpha)
+        {
+            glColorMask(red, green, blue, alpha);
+        }
+
+        inline
+        void clear(const vec4& color)
+        {
+            p_color = color;
+            glClearColor(color[0], color[1], color[2], color[3]);
+            glClear(GL_COLOR_BUFFER_BIT);
+        }
+
+        inline
+        void clear()
+        {
+            clear(p_color);
+        }
+    };
+
+}
+

source/hpr/gpu/common.hpp

@@ -0,0 +1,4 @@
+#pragma once
+
+#include <glad/glad.h>
+

source/hpr/gpu/context.cpp

@@ -1,23 +0,0 @@
-
-#include "context.hpp"
-
-
-namespace hpr::gpu
-{
-
-Context::Context() :
-    p_api {DeviceAPI::Unknown}
-{}
-
-Context::Context(DeviceAPI api) :
-    p_api {api}
-{}
-
-Context::~Context() = default;
-
-bool Context::checkCompability(const Context* ctx) const
-{
-    return (ctx != nullptr) ? ctx->p_api == p_api : true;
-}
-
-}

source/hpr/gpu/context.hpp

@@ -1,40 +0,0 @@
-#pragma once
-
-
-namespace hpr::gpu
-{
-
-class Context
-{
-
-public:
-
-    enum class DeviceAPI
-    {
-        Unknown,
-        OpenGL,
-        DeviceAPICount
-    };
-
-private:
-
-    DeviceAPI p_api;
-
-public:
-
-    // Constructors
-
-    Context();
-
-    explicit
-    Context(DeviceAPI api);
-
-    virtual
-    ~Context();
-
-    // Member functions
-
-    bool checkCompability(const Context* ctx) const;
-};
-
-}

source/hpr/gpu/cull_face.hpp

@@ -0,0 +1,76 @@
+#pragma once
+
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
+
+
+
+namespace hpr::gpu
+{
+
+class CullFace
+{
+
+    enum class Mode
+    {
+        Front = GL_FRONT,
+        Back = GL_BACK,
+        FrontAndBack = GL_FRONT_AND_BACK,
+        None = GL_NONE
+    };
+
+protected:
+
+    bool p_binded;
+    Mode p_mode;
+
+public:
+
+    inline
+    CullFace() :
+        p_binded {false},
+        p_mode {Mode::FrontAndBack}
+    {}
+
+    inline
+    CullFace(Mode mode) :
+        p_binded {false},
+        p_mode {mode}
+    {}
+
+    virtual
+    ~CullFace() = default;
+
+    inline
+    void bind()
+    {
+        p_binded = true;
+        glEnable(GL_CULL_FACE);
+    }
+
+    inline
+    void unbind()
+    {
+        p_binded = false;
+        glDisable(GL_CULL_FACE);
+
+    }
+
+    inline
+    bool binded() const
+    {
+        return p_binded;
+    }
+
+    inline
+    void set(Mode mode)
+    {
+        p_mode = mode;
+        glCullFace(static_cast<GLenum>(mode));
+    }
+
+};
+
+}
+

source/hpr/gpu/depth_buffer.hpp

@@ -0,0 +1,84 @@
+#pragma once
+
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
+
+
+namespace hpr::gpu
+{
+
+class DepthBuffer
+{
+
+protected:
+
+    bool p_enabled;
+    bool p_binded;
+
+public:
+
+    inline
+    DepthBuffer() :
+        p_enabled {true},
+        p_binded {false}
+    {}
+
+    inline
+    DepthBuffer(bool enabled) :
+        p_enabled {enabled},
+        p_binded {false}
+    {}
+
+    virtual
+    ~DepthBuffer() = default;
+
+    inline
+    void bind()
+    {
+        p_binded = true;
+        glEnable(GL_DEPTH_TEST);
+    }
+
+    inline
+    void unbind()
+    {
+        p_binded = false;
+        glDisable(GL_DEPTH_TEST);
+    }
+
+    inline
+    bool binded() const
+    {
+        return p_binded;
+    }
+
+    inline
+    void enable()
+    {
+        p_enabled = true;
+        glDepthMask(GL_TRUE);
+    }
+
+    inline
+    void disable()
+    {
+        p_enabled = false;
+        glDepthMask(GL_FALSE);
+    }
+
+    [[nodiscard]]
+    inline
+    bool enabled() const
+    {
+        return p_enabled;
+    }
+
+    inline
+    void clear() const
+    {
+        glClear(GL_DEPTH_BUFFER_BIT);
+    }
+};
+
+}

source/hpr/gpu/device.cpp

@@ -1,245 +0,0 @@
-
-#include "device.hpp"
-#include "opengl/device.hpp"
-
-
-namespace hpr::gpu
-{
-
-Device::Device() :
-    Context {DeviceAPI::Unknown},
-    p_currentVertexBuffer {},
-    p_currentIndexBuffer {},
-    p_currentUniformBuffer {},
-    p_currentShaderProgram {}
-{}
-
-Device::Device(DeviceAPI api) :
-    Context {api},
-    p_currentVertexBuffer {},
-    p_currentIndexBuffer {},
-    p_currentUniformBuffer {},
-    p_currentShaderProgram {}
-{}
-
-Device::~Device()
-{
-    for (auto& shader : p_shaders)
-        delete shader;
-    for (auto& buffer : p_buffers)
-        delete buffer;
-    for (auto& shaderProgram : p_shaderPrograms)
-        delete shaderProgram;
-    for (auto& texture : p_textures)
-        delete texture;
-}
-
-// Global functions
-
-void Device::create(Device** device, DeviceAPI api)
-{
-    if (device == nullptr)
-        throw std::invalid_argument("Invalid parameter 'nullptr'");
-    if (api == DeviceAPI::Unknown)
-        throw std::invalid_argument("Cannot create device for 'Unknown'");
-
-    *device = nullptr;
-
-    if (api == DeviceAPI::OpenGL)
-        *device = new opengl::Device;
-    else
-        throw std::invalid_argument("Unsupported device");
-}
-
-// Render targets
-
-void Device::moveRenderTarget(RenderTarget* target, int x, int y)
-{
-    if (target == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-    target->p_posX = x;
-    target->p_posY = y;
-}
-
-void Device::scaleRenderTarget(RenderTarget* target, int width, int height)
-{
-    if (target == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    target->p_width = width;
-    target->p_height = height;
-}
-
-void Device::destroyRenderTarget(RenderTarget*& target)
-{
-    if (!target)
-        throw std::runtime_error("Invalid parameter");
-
-    for (auto iter = p_renderTargets.begin(); iter != p_renderTargets.end(); ++iter)
-        if (*iter == target)
-        {
-            delete target;
-            target = nullptr;
-            p_renderTargets.remove(iter);
-            break;
-        }
-}
-
-// Buffers
-
-void Device::useVertexBuffer(Buffer* buffer, int stride, int offset)
-{
-    if (buffer)
-    {
-        if (buffer->p_type == Buffer::BufferType::Vertex)
-        {
-            p_currentVertexBuffer = buffer;
-            p_currentVertexBuffer->p_stride = stride;
-        }
-        else
-            throw std::runtime_error("Incompatible buffer");
-    }
-    else
-        p_currentVertexBuffer = nullptr;
-}
-
-void Device::useIndexBuffer(Buffer* buffer, int offset)
-{
-    if (buffer)
-    {
-        if (buffer->p_type == Buffer::BufferType::Index)
-        {
-            p_currentIndexBuffer = buffer;
-        }
-        else
-            throw std::runtime_error("Incompatible buffer");
-    }
-    else
-        p_currentIndexBuffer = nullptr;
-}
-
-void Device::useUniformBuffer(Buffer* buffer, int slot)
-{
-    if (buffer)
-    {
-        if (buffer->p_type == Buffer::BufferType::Uniform)
-            p_currentUniformBuffer = buffer;
-        else
-            throw std::runtime_error("Incompatible buffer");
-    }
-    else
-        p_currentUniformBuffer = nullptr;
-}
-
-void Device::destroyBuffer(Buffer*& buffer)
-{
-    if (!buffer)
-        throw std::runtime_error("Invalid parameter");
-
-    for (auto iter = p_buffers.begin(); iter != p_buffers.end(); ++iter)
-        if (*iter == buffer)
-        {
-            delete buffer;
-            buffer = nullptr;
-            p_buffers.remove(iter);
-            break;
-        }
-}
-
-Buffer* Device::activeBuffer(Buffer::BufferType type)
-{
-    switch (type)
-    {
-        case Buffer::BufferType::Vertex:
-            return p_currentVertexBuffer;
-        case Buffer::BufferType::Index:
-            return p_currentIndexBuffer;
-        case Buffer::BufferType::Uniform:
-            return p_currentUniformBuffer;
-        default:
-            return nullptr;
-    }
-}
-
-// Shaders
-
-void Device::destroyShader(Shader* shader)
-{
-    if (shader == nullptr)
-        throw std::runtime_error("Invalid parameter");
-
-    for (auto iter = p_shaders.begin(); iter != p_shaders.end(); ++iter)
-        if (*iter == shader)
-        {
-            delete shader;
-            shader = nullptr;
-            p_shaders.remove(iter);
-            break;
-        }
-}
-
-// Shader programs
-
-void Device::attachShader(ShaderProgram *program, Shader *shader)
-{
-    if (program == nullptr || shader == nullptr)
-        throw std::runtime_error("Invalid parameter");
-    if (program->p_isLinked)
-        throw std::runtime_error("Shader program already linked");
-
-    program->p_slots[(int)shader->p_type] = shader;
-}
-
-void Device::linkProgram(ShaderProgram *program)
-{
-    if (program == nullptr)
-        throw std::runtime_error("Invalid parameter");
-    if (program->p_isLinked)
-        throw std::runtime_error("Shader program already linked");
-
-    program->p_isLinked = true;
-}
-
-void Device::useShaderProgram(ShaderProgram *program)
-{
-    if (program != nullptr)
-        if (!program->p_isLinked)
-            throw std::runtime_error("Shader program is not linked");
-
-    p_currentShaderProgram = program;
-}
-
-void Device::destroyShaderProgram(ShaderProgram *&program, bool withShaders)
-{
-    if (program == p_currentShaderProgram)
-        useShaderProgram(nullptr);
-
-    if (withShaders)
-        for (size_t n = 0; n < (size_t)Shader::ShaderType::ShaderTypeCount; n++)
-            destroyShader(program->p_slots[n]);
-
-    for (auto iter = p_shaderPrograms.begin(); iter != p_shaderPrograms.end(); ++iter)
-        if (*iter == program)
-        {
-            delete program;
-            program = nullptr;
-            p_shaderPrograms.remove(iter);
-            break;
-        }
-}
-
-// Textures
-
-void Device::destroyTexture(Texture *&texture)
-{
-    for (auto iter = p_textures.begin(); iter != p_textures.end(); ++iter)
-        if (*iter == texture)
-        {
-            delete texture;
-            texture = nullptr;
-            p_textures.remove(iter);
-            break;
-        }
-}
-
-}

source/hpr/gpu/device.hpp

@@ -1,148 +0,0 @@
-#pragma once
-
-#include "context.hpp"
-#include "buffer.hpp"
-#include "shader.hpp"
-#include "shader_program.hpp"
-#include "texture.hpp"
-#include "render_target.hpp"
-
-#include "../containers/array.hpp"
-
-#include "../window_system/window_system.hpp"
-
-
-namespace hpr::gpu
-{
-
-class Device : public Context
-{
-
-public:
-
-    enum class CullMode
-    {
-        Front,
-        Back,
-        FrontAndBack,
-        None
-    };
-
-protected:
-
-    darray<Buffer*> p_buffers;
-    darray<Shader*> p_shaders;
-    darray<ShaderProgram*> p_shaderPrograms;
-    darray<Texture*> p_textures;
-
-    Buffer* p_currentVertexBuffer;
-    Buffer* p_currentIndexBuffer;
-    Buffer* p_currentUniformBuffer;
-    ShaderProgram* p_currentShaderProgram;
-
-    darray<RenderTarget*> p_renderTargets;
-protected:
-
-    // Constructors
-
-    Device();
-
-    explicit
-    Device(DeviceAPI api);
-
-    ~Device() override;
-
-public:
-
-    // Global functions
-
-    static
-    void create(Device** device, DeviceAPI api);
-
-    // Member functions
-
-    // Setup
-
-    virtual
-    bool initialize() = 0;
-    virtual
-    bool destroy() = 0;
-
-    // State
-
-    virtual
-    void faceCulling(bool enableFaceCulling, CullMode faceCullingMode) = 0;
-
-    // Render targets
-
-    virtual
-    void createScreenRenderTarget(RenderTarget** target, Window* window) = 0;
-    virtual
-    void createFramebufferRenderTarget(RenderTarget** target, int width, int height) = 0;
-    virtual
-    void createSubRenderTarget(RenderTarget** target, RenderTarget* parent, int x, int y, int width, int height) = 0;
-    virtual
-    void moveRenderTarget(RenderTarget* target, int x, int y);
-    virtual
-    void scaleRenderTarget(RenderTarget* target, int width, int height);
-    virtual
-    void destroyRenderTarget(RenderTarget*& target);
-
-    // Buffers
-
-    virtual
-    void createVertexBuffer(Buffer **buffer, int size, char* data) = 0;
-    virtual
-    void createIndexBuffer(Buffer **buffer, int size, char* data) = 0;
-    virtual
-    void createUniformBuffer(Buffer **buffer, int size, char* data) = 0;
-    virtual
-    void useVertexBuffer(Buffer* buffer, int stride, int offset);
-    virtual
-    void useIndexBuffer(Buffer* buffer, int offset);
-    virtual
-    void useUniformBuffer(Buffer* buffer, int slot);
-    virtual
-    void editBuffer(Buffer* buffer, char* data, int size, int offset) = 0;
-    virtual
-    void editBuffer(Buffer* buffer, char* data) = 0;
-    virtual
-    void destroyBuffer(Buffer*& buffer);
-    Buffer* activeBuffer(Buffer::BufferType type);
-
-
-    // Shaders
-
-    virtual
-    void createVertexShader(Shader** shader, const std::string& filename, const std::string& label) = 0;
-    virtual
-    void createFragmentShader(Shader** shader, const std::string& filename, const std::string& label) = 0;
-    virtual
-    void createGeometryShader(Shader** shader, const std::string& filename, const std::string& label) = 0;
-    virtual
-    void destroyShader(Shader* shader);
-
-    // Shader programs
-
-    virtual
-    void createShaderProgram(ShaderProgram** program) = 0;
-    virtual
-    void attachShader(ShaderProgram* program, Shader* shader);
-    virtual
-    void linkProgram(ShaderProgram* program);
-    virtual
-    void useShaderProgram(ShaderProgram* program);
-    virtual
-    void destroyShaderProgram(ShaderProgram*& program, bool withShaders);
-
-    // Textures
-
-    virtual
-    void createTexture(Texture** texture, const std::string& filename) = 0;
-    virtual
-    void useTexture(Texture* texture, int slot) = 0;
-    virtual
-    void destroyTexture(Texture*& texture);
-};
-
-}

source/hpr/gpu/framebuffer.hpp

@@ -0,0 +1,131 @@
+#pragma once
+
+#include "texture.hpp"
+#include "renderbuffer.hpp"
+
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
+
+namespace hpr::gpu
+{
+
+class Framebuffer
+{
+
+protected:
+
+    Texture p_texture;
+    Renderbuffer p_renderbuffer;
+    unsigned int p_index;
+    bool p_binded;
+
+public:
+
+    inline
+    Framebuffer() :
+        p_index {0},
+        p_texture {},
+        p_renderbuffer {}
+    {}
+
+    virtual
+    ~Framebuffer() = default;
+
+    [[nodiscard]]
+    unsigned int index() const
+    {
+        return p_index;
+    }
+
+    void bind()
+    {
+        glBindFramebuffer(GL_FRAMEBUFFER, p_index);
+        p_binded = true;
+    }
+
+    void unbind()
+    {
+        glBindFramebuffer(GL_FRAMEBUFFER, 0);
+        p_binded = false;
+    }
+
+    bool binded() const
+    {
+        return p_binded;
+    }
+
+    void attach(const Texture& texture)
+    {
+        if (!binded() && valid())
+            std::runtime_error("Framebuffer not binded or invalid");
+        if (!texture.valid())
+            std::runtime_error("Texture is not valid");
+
+        p_texture = texture;
+        p_texture.bind();
+        glFramebufferTexture2D(GL_FRAMEBUFFER, GL_COLOR_ATTACHMENT0, GL_TEXTURE_2D, p_texture.index(), 0);
+
+        p_texture.unbind();
+    }
+
+    void attach(const Renderbuffer& renderbuffer)
+    {
+        if (!binded() && valid())
+            std::runtime_error("Framebuffer not binded or invalid");
+        if (!renderbuffer.valid())
+            std::runtime_error("Renderbuffer is not valid");
+
+        p_renderbuffer = renderbuffer;
+        p_renderbuffer.bind();
+        p_renderbuffer.storage(p_texture.width(), p_texture.height());
+        glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT, GL_RENDERBUFFER, p_renderbuffer.index());
+
+        if (glCheckFramebufferStatus(GL_FRAMEBUFFER) != GL_FRAMEBUFFER_COMPLETE)
+            throw std::runtime_error("Framebuffer is not complete");
+
+        p_renderbuffer.unbind();
+    }
+
+    void create()
+    {
+        glGenFramebuffers(1, &p_index);
+        bind();
+
+        if (!p_texture.valid())
+            p_texture.create();
+        attach(p_texture);
+
+        if (!p_renderbuffer.valid())
+            p_renderbuffer.create();
+        attach(p_renderbuffer);
+
+        unbind();
+    }
+
+    void rescale(int width, int height)
+    {
+        p_texture.bind();
+        p_texture.rescale(width, height);
+
+        p_renderbuffer.bind();
+        p_renderbuffer.storage(p_texture.width(), p_texture.height());
+
+        p_texture.unbind();
+        p_renderbuffer.unbind();
+    }
+
+    void destroy()
+    {
+        p_texture.destroy();
+        p_renderbuffer.destroy();
+        glDeleteFramebuffers(1, &p_index);
+    }
+
+    bool valid() const
+    {
+        return p_index != 0;
+    }
+};
+
+}

source/hpr/gpu/gpu.cpp

@@ -0,0 +1,3 @@
+//
+// Created by L-Nafaryus on 12/16/2022.
+//

source/hpr/gpu/opengl/buffer.cpp

@@ -1,31 +0,0 @@
-
-#include "buffer.hpp"
-
-#include <glad/glad.h>
-
-
-namespace hpr::gpu::opengl
-{
-
-Buffer::Buffer() :
-    gpu::Buffer(DeviceAPI::OpenGL),
-    p_bufferIndex {0},
-    p_vertexArrayIndex {0}
-{}
-
-Buffer::~Buffer() = default;
-
-int Buffer::target() const
-{
-    switch (p_type)
-    {
-        case BufferType::Vertex:
-            return GL_ARRAY_BUFFER;
-        case BufferType::Index:
-            return GL_ELEMENT_ARRAY_BUFFER;
-        default:
-            return GL_NONE;
-    }
-}
-
-}

source/hpr/gpu/opengl/buffer.hpp

@@ -1,30 +0,0 @@
-#pragma once
-
-#include "../buffer.hpp"
-
-
-namespace hpr::gpu::opengl
-{
-
-class Buffer : public gpu::Buffer
-{
-    friend class Device;
-
-protected:
-    unsigned int p_bufferIndex;
-    unsigned int p_vertexArrayIndex;
-
-public:
-
-    // Constructors
-
-    Buffer();
-
-    virtual ~Buffer();
-
-    // Member functions
-
-    int target() const;
-};
-
-}

source/hpr/gpu/opengl/context.cpp

@@ -1,5 +0,0 @@
-//
-// Created by L-Nafaryus on 10/3/2022.
-//
-
-#include "context.hpp"

source/hpr/gpu/opengl/context.hpp

@@ -1,8 +0,0 @@
-//
-// Created by L-Nafaryus on 10/3/2022.
-//
-
-#ifndef HYPORO_CONTEXT_HPP
-#define HYPORO_CONTEXT_HPP
-
-#endif //HYPORO_CONTEXT_HPP

source/hpr/gpu/opengl/device.cpp

@@ -1,597 +0,0 @@
-
-#include "device.hpp"
-#include "buffer.hpp"
-#include "shader.hpp"
-#include "shader_program.hpp"
-#include "texture.hpp"
-#include "render_target.hpp"
-
-#include "../../io/file.hpp"
-
-#include <glad/glad.h>
-#define STB_IMAGE_IMPLEMENTATION
-#include <stb_image.h>
-#include <stdexcept>
-
-#include <GLFW/glfw3.h>
-
-
-namespace hpr::gpu::opengl
-{
-
-Device::Device() :
-    gpu::Device {DeviceAPI::OpenGL},
-    p_isInitialized {false}
-{}
-
-Device::~Device() = default;
-
-// Setup
-
-bool Device::initialize()
-{
-    return p_isInitialized = true;
-}
-
-bool Device::destroy()
-{
-    return p_isInitialized = false;
-}
-
-bool Device::loadLoader()
-{
-    return !gladLoadGLLoader((GLADloadproc) glfwGetProcAddress);
-}
-
-// State
-
-void Device::faceCulling(bool enableFaceCulling, CullMode faceCullingMode)
-{
-    if (enableFaceCulling)
-        glEnable(GL_CULL_FACE);
-    else
-        glDisable(GL_CULL_FACE);
-
-    switch (faceCullingMode)
-    {
-        case CullMode::Front:
-            glCullFace(GL_FRONT);
-            break;
-        case CullMode::Back:
-            glCullFace(GL_BACK);
-            break;
-        case CullMode::FrontAndBack:
-            glCullFace(GL_FRONT_AND_BACK);
-            break;
-        case CullMode::None:
-            glCullFace(GL_NONE);
-            break;
-    }
-}
-
-// Render targets
-
-void Device::createScreenRenderTarget(gpu::RenderTarget** target, Window* window)
-{
-    if (target == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-    *target = nullptr;
-    p_renderTargets.push(new opengl::RenderTarget());
-    auto* newTarget = dynamic_cast<opengl::RenderTarget*>(p_renderTargets.back());
-
-    newTarget->p_type = RenderTarget::Type::Screen;
-    newTarget->p_posX = 0;
-    newTarget->p_posY = 0;
-    newTarget->p_width = window->width();
-    newTarget->p_height = window->height();
-
-    *target = newTarget;
-}
-
-void Device::createFramebufferRenderTarget(gpu::RenderTarget** target, int width, int height)
-{
-    if (target == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-    unsigned int texture;
-    glGenTextures(GL_TEXTURE_2D, &texture);
-    glBindTexture(GL_TEXTURE_2D, texture);
-
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-    glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-
-    glTexImage2D(GL_TEXTURE_2D, 0, GL_RGBA, width, height, 0, GL_RGBA, GL_UNSIGNED_BYTE, nullptr);
-
-    unsigned int framebuffer;
-    glGenFramebuffers(1, &framebuffer);
-    glBindFramebuffer(GL_DRAW_FRAMEBUFFER, framebuffer);
-
-    p_renderTargets.push(new opengl::RenderTarget());
-    auto* newTarget = dynamic_cast<opengl::RenderTarget*>(p_renderTargets.back());
-
-    newTarget->p_type = RenderTarget::Type::Framebuffer;
-    newTarget->p_posX = 0;
-    newTarget->p_posY = 0;
-    newTarget->p_width = width;
-    newTarget->p_height = height;
-    newTarget->p_frameBufferIndex = framebuffer;
-    newTarget->p_textureIndex = texture;
-
-    *target = newTarget;
-}
-
-void Device::createSubRenderTarget(gpu::RenderTarget** target, gpu::RenderTarget* parent, int x, int y, int width, int height)
-{
-
-}
-
-void Device::moveRenderTarget(gpu::RenderTarget* target, int x, int y)
-{
-
-}
-
-void Device::scaleRenderTarget(gpu::RenderTarget* target, int width, int height)
-{
-
-}
-
-void Device::destroyRenderTarget(gpu::RenderTarget*& target)
-{
-
-}
-
-// Buffers
-
-
-void Device::createVertexBuffer(gpu::Buffer **buffer, int size, char *data)
-{
-    if (buffer == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    *buffer = nullptr;
-    p_buffers.push(new opengl::Buffer());
-    auto* newBuffer = dynamic_cast<opengl::Buffer*>(p_buffers.back());
-
-    newBuffer->p_type = Buffer::BufferType::Vertex;
-    newBuffer->p_size = size;
-
-    glGenVertexArrays(1, &newBuffer->p_vertexArrayIndex);
-    glBindVertexArray(newBuffer->p_vertexArrayIndex);
-
-    glGenBuffers(1, &newBuffer->p_bufferIndex);
-    glBindBuffer(GL_ARRAY_BUFFER, newBuffer->p_bufferIndex);
-    glBufferData(GL_ARRAY_BUFFER, size, (void*)data, GL_STATIC_DRAW);
-
-    *buffer = static_cast<gpu::Buffer*>(newBuffer);
-}
-
-void Device::createIndexBuffer(gpu::Buffer **buffer, int size, char *data)
-{
-    if (buffer == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    *buffer = nullptr;
-    p_buffers.push(new opengl::Buffer());
-    auto* newBuffer = dynamic_cast<opengl::Buffer*>(p_buffers.back());
-
-    newBuffer->p_type = Buffer::BufferType::Index;
-    newBuffer->p_size = size;
-
-    glGenVertexArrays(1, &newBuffer->p_vertexArrayIndex);
-    glBindVertexArray(newBuffer->p_vertexArrayIndex);
-
-    glGenBuffers(1, &newBuffer->p_bufferIndex);
-    glBindBuffer(GL_UNIFORM_BUFFER, newBuffer->p_bufferIndex);
-    glBufferData(GL_UNIFORM_BUFFER, size, (void*)data, GL_STATIC_DRAW);
-
-    *buffer = static_cast<gpu::Buffer*>(newBuffer);
-}
-
-void Device::createUniformBuffer(gpu::Buffer** buffer, int size, char* data)
-{
-    if (buffer == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    *buffer = nullptr;
-    p_buffers.push(new opengl::Buffer());
-    auto* newBuffer = dynamic_cast<opengl::Buffer*>(p_buffers.back());
-
-    newBuffer->p_type = Buffer::BufferType::Uniform;
-    newBuffer->p_size = size;
-
-    glGenBuffers(1, &newBuffer->p_bufferIndex);
-    glBindBuffer(GL_UNIFORM_BUFFER, newBuffer->p_bufferIndex);
-    glBufferData(GL_UNIFORM_BUFFER, size, (void*)data, GL_DYNAMIC_DRAW);
-
-    *buffer = static_cast<gpu::Buffer*>(newBuffer);
-}
-
-void Device::useVertexBuffer(gpu::Buffer *buffer, int stride, int offset)
-{
-    if (buffer == nullptr)
-    {
-        glBindVertexArray(0);
-        glBindBuffer(GL_ARRAY_BUFFER, 0);
-    }
-    else
-    {
-        auto* curBuffer = dynamic_cast<opengl::Buffer*>(buffer);
-
-        if (curBuffer->p_type == Buffer::BufferType::Vertex && p_currentVertexBuffer != buffer)
-        {
-            glBindVertexArray(curBuffer->p_vertexArrayIndex);
-            glBindBuffer(GL_ARRAY_BUFFER, curBuffer->p_bufferIndex);
-
-            auto* curIndexBuffer = dynamic_cast<opengl::Buffer*>(p_currentIndexBuffer);
-
-            if (curIndexBuffer != nullptr)
-                glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, curIndexBuffer->p_bufferIndex);
-        }
-    }
-    gpu::Device::useVertexBuffer(buffer, stride, offset);
-}
-
-void Device::useIndexBuffer(gpu::Buffer *buffer, int offset)
-{
-    if (buffer == nullptr)
-    {
-        glBindVertexArray(0);
-        glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, 0);
-    }
-    else
-    {
-        auto* curBuffer = dynamic_cast<opengl::Buffer*>(buffer);
-
-        if (curBuffer->p_type == Buffer::BufferType::Index && p_currentVertexBuffer != buffer)
-        {
-            glBindVertexArray(curBuffer->p_vertexArrayIndex);
-            glBindBuffer(GL_ELEMENT_ARRAY_BUFFER, curBuffer->p_bufferIndex);
-        }
-    }
-    gpu::Device::useIndexBuffer(buffer, offset);
-}
-
-void Device::useUniformBuffer(gpu::Buffer* buffer, int slot)
-{
-    if (buffer == nullptr)
-    {
-        glBindBuffer(GL_UNIFORM_BUFFER, 0);
-    }
-    else
-    {
-        auto* curBuffer = dynamic_cast<opengl::Buffer*>(buffer);
-        glBindBufferRange(GL_UNIFORM_BUFFER, slot, curBuffer->p_bufferIndex, 0, buffer->size());
-    }
-    gpu::Device::useUniformBuffer(buffer, slot);
-}
-
-void Device::editBuffer(gpu::Buffer* buffer, char* data, int size, int offset)
-{
-    if (!checkCompability(buffer))
-        throw std::runtime_error("Incompatible platform");
-    if (buffer == nullptr || data == nullptr)
-        throw std::invalid_argument("Invalid argument");
-    if (size + offset > buffer->size() || size < 0 || offset < 0)
-        throw std::out_of_range("Out of bounds");
-
-    auto* prevBuffer = dynamic_cast<opengl::Buffer*>(activeBuffer(buffer->type()));
-
-    auto* buffer_ = dynamic_cast<opengl::Buffer*>(buffer);
-    glBindBuffer(buffer_->target(), buffer_->p_bufferIndex);
-    glBufferSubData(buffer_->target(), offset, size, data);
-
-    if (prevBuffer != buffer_)
-        glBindBuffer(buffer_->target(), prevBuffer ? prevBuffer->p_bufferIndex : 0);
-
-}
-
-void Device::editBuffer(gpu::Buffer* buffer, char* data)
-{
-    editBuffer(buffer, data, buffer->size(), 0);
-}
-
-void Device::destroyBuffer(gpu::Buffer *&buffer)
-{
-    if (buffer == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    auto* curBuffer = dynamic_cast<opengl::Buffer*>(buffer);
-    glDeleteBuffers(1, &curBuffer->p_bufferIndex);
-
-    if (curBuffer->p_type == Buffer::BufferType::Vertex)
-        glDeleteVertexArrays(1, &curBuffer->p_vertexArrayIndex);
-
-    gpu::Device::destroyBuffer(buffer);
-}
-
-// Shaders
-
-void Device::createVertexShader(gpu::Shader **shader, const std::string &filename, const std::string &label)
-{
-    if (shader == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    *shader = nullptr;
-
-    unsigned int shaderIndex = glCreateShader(GL_VERTEX_SHADER);
-    if (shaderIndex == 0)
-        throw std::runtime_error("Could not create shader");
-
-    File file;
-    file.open(filename, File::Binary | File::Read);
-    std::string content = file.read().str();
-    const char* shaderSource = content.c_str();
-
-    glShaderSource(shaderIndex, 1, &shaderSource, nullptr);
-    GLenum result = glGetError();
-    glCompileShader(shaderIndex);
-
-    int shaderStatus;
-    glGetShaderiv(shaderIndex, GL_COMPILE_STATUS, &shaderStatus);
-    if (!shaderStatus)
-    {
-        char error[2048 + 1];
-        glGetShaderInfoLog(shaderIndex, 2048, nullptr, error);
-
-        throw std::runtime_error(error);
-    }
-
-    p_shaders.push(new opengl::Shader());
-    auto* newShader = dynamic_cast<opengl::Shader*>(p_shaders.back());
-    newShader->p_type = Shader::ShaderType::Vertex;
-    newShader->p_filename = filename;
-    newShader->p_shaderIndex = shaderIndex;
-    newShader->p_label = "VertexShader";
-
-    *shader = static_cast<Shader*>(newShader);
-}
-
-
-void Device::createFragmentShader(gpu::Shader **shader, const std::string &filename, const std::string &label)
-{
-    if (shader == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    *shader = nullptr;
-
-    unsigned int shaderIndex = glCreateShader(GL_FRAGMENT_SHADER);
-    if (shaderIndex == 0)
-        throw std::runtime_error("Could not create shader");
-
-    File file;
-    file.open(filename, File::Binary | File::Read);
-    std::string content = file.read().str();
-    const char* shaderSource = content.c_str();
-
-    glShaderSource(shaderIndex, 1, &shaderSource, nullptr);
-    GLenum result = glGetError();
-    glCompileShader(shaderIndex);
-
-    int shaderStatus;
-    glGetShaderiv(shaderIndex, GL_COMPILE_STATUS, &shaderStatus);
-    if (!shaderStatus)
-    {
-        char error[2048 + 1];
-        glGetShaderInfoLog(shaderIndex, 2048, nullptr, error);
-
-        throw std::runtime_error(error);
-    }
-
-    p_shaders.push(new opengl::Shader());
-    auto* newShader = dynamic_cast<opengl::Shader*>(p_shaders.back());
-    newShader->p_type = Shader::ShaderType::Fragment;
-    newShader->p_filename = filename;
-    newShader->p_shaderIndex = shaderIndex;
-    newShader->p_label = "FragmentShader";
-
-    *shader = static_cast<Shader*>(newShader);
-}
-
-
-void Device::createGeometryShader(gpu::Shader **shader, const std::string &filename, const std::string &label)
-{
-    if (shader == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    *shader = nullptr;
-
-    unsigned int shaderIndex = glCreateShader(GL_GEOMETRY_SHADER);
-    if (shaderIndex == 0)
-        throw std::runtime_error("Could not create shader");
-
-    File file;
-    file.open(filename, File::Binary | File::Read);
-    std::string content = file.read().str();
-    const char* shaderSource = content.c_str();
-
-    glShaderSource(shaderIndex, 1, &shaderSource, nullptr);
-    GLenum result = glGetError();
-    glCompileShader(shaderIndex);
-
-    int shaderStatus;
-    glGetShaderiv(shaderIndex, GL_COMPILE_STATUS, &shaderStatus);
-    if (!shaderStatus)
-    {
-        char error[2048 + 1];
-        glGetShaderInfoLog(shaderIndex, 2048, nullptr, error);
-
-        throw std::runtime_error(error);
-    }
-
-    p_shaders.push(new opengl::Shader());
-    auto* newShader = dynamic_cast<opengl::Shader*>(p_shaders.back());
-    newShader->p_type = Shader::ShaderType::Geometry;
-    newShader->p_filename = filename;
-    newShader->p_shaderIndex = shaderIndex;
-    newShader->p_label = "FragmentShader";
-
-    *shader = static_cast<gpu::Shader*>(newShader);
-}
-
-void Device::destroyShader(gpu::Shader* shader)
-{
-    if (shader == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    auto* shader_ = dynamic_cast<opengl::Shader*>(shader);
-    glDeleteShader(shader_->p_shaderIndex);
-
-    gpu::Device::destroyShader(shader);
-}
-
-void Device::createShaderProgram(gpu::ShaderProgram** program)
-{
-    if (program == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    *program = nullptr;
-
-    p_shaderPrograms.push(new opengl::ShaderProgram());
-    auto* newProgram = dynamic_cast<opengl::ShaderProgram*>(p_shaderPrograms.back());
-    newProgram->p_shaderProgramIndex = glCreateProgram();
-
-    *program = static_cast<gpu::ShaderProgram*>(newProgram);
-}
-
-void Device::attachShader(gpu::ShaderProgram* program, gpu::Shader* shader)
-{
-    gpu::Device::attachShader(program, shader);
-    auto* program_ = dynamic_cast<opengl::ShaderProgram*>(program);
-    auto* shader_ = dynamic_cast<opengl::Shader*>(shader);
-    glAttachShader(program_->p_shaderProgramIndex, shader_->p_shaderIndex);
-}
-
-
-void Device::linkProgram(gpu::ShaderProgram* program)
-{
-    gpu::Device::linkProgram(program);
-    auto* program_ = dynamic_cast<opengl::ShaderProgram*>(program);
-    glLinkProgram(program_->p_shaderProgramIndex);
-
-    GLint status;
-    glGetProgramiv(program_->p_shaderProgramIndex, GL_LINK_STATUS, &status);
-
-    if (status == GL_FALSE)
-        throw std::runtime_error("Shader program link error");
-}
-
-void Device::useShaderProgram(gpu::ShaderProgram* program)
-{
-    gpu::ShaderProgram* currentProgram = p_currentShaderProgram;
-    gpu::Device::useShaderProgram(program);
-
-    if (currentProgram == program)
-        return;
-    if (program == nullptr)
-        glUseProgram(0);
-    else
-    {
-        auto* program_ = dynamic_cast<opengl::ShaderProgram*>(program);
-        glUseProgram(program_->p_shaderProgramIndex);
-    }
-}
-
-void Device::destroyShaderProgram(gpu::ShaderProgram*& program, bool withShaders)
-{
-    if (program == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    auto* program_ = dynamic_cast<opengl::ShaderProgram*>(program);
-
-    for (int n = 0; n < static_cast<int>(Shader::ShaderType::ShaderTypeCount); ++n)
-    {
-        auto* shader = dynamic_cast<opengl::Shader*>(program_->p_slots[n]);
-        if (shader != nullptr)
-            glDetachShader(program_->p_shaderProgramIndex, shader->p_shaderIndex);
-    }
-    glDeleteProgram(program_->p_shaderProgramIndex);
-    gpu::Device::destroyShaderProgram(program, withShaders);
-}
-
-void Device::createTexture(gpu::Texture** texture, const std::string& filename)
-{
-    if (texture == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-    if (filename.empty())
-        throw std::invalid_argument("Invalid parameter");
-
-    *texture = nullptr;
-    bool alphaChannel = true;
-    int internalFormat = GL_RGBA;
-    int imageFormat = GL_RGBA;
-    int width;
-    int height;
-    int channelsCount;
-
-    stbi_set_flip_vertically_on_load(true);
-    unsigned char* source = stbi_load(filename.c_str(), &width, &height, &channelsCount, 0);
-
-    if (!source)
-        throw std::runtime_error("Failed to load texture source");
-    else
-    {
-        p_textures.push(new opengl::Texture());
-        auto* texture_ = dynamic_cast<opengl::Texture*>(p_textures.back());
-        texture_->p_filename = filename;
-        texture_->p_width = width;
-        texture_->p_height = height;
-
-        glGenTextures(1, &texture_->p_textureIndex);
-        glBindTexture(GL_TEXTURE_2D, texture_->p_textureIndex);
-
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_NEAREST);
-        glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_NEAREST);
-
-        if (alphaChannel)
-            glPixelStorei(GL_UNPACK_ALIGNMENT, 1);
-        else
-            glPixelStorei(GL_UNPACK_ALIGNMENT, 4);
-
-        glTexImage2D(GL_TEXTURE_2D, 0, internalFormat, width, height, 0, imageFormat, GL_UNSIGNED_BYTE, source);
-        glGenerateMipmap(GL_TEXTURE_2D);
-
-        glBindTexture(GL_TEXTURE_2D, 0);
-
-        *texture = static_cast<gpu::Texture*>(texture_);
-    }
-
-    stbi_image_free(source);
-}
-
-void Device::useTexture(gpu::Texture* texture, int slot)
-{
-    //gpu::Device::useTexture(texture, slot);
-
-    if (texture == nullptr)
-    {
-        glActiveTexture(GL_TEXTURE0 + slot);
-        glBindTexture(GL_TEXTURE_2D, 0);
-    }
-    else
-    {
-        auto* texture_ = dynamic_cast<opengl::Texture*>(texture);
-        glActiveTexture(GL_TEXTURE0 + slot);
-        glBindTexture(GL_TEXTURE_2D, texture_->p_textureIndex);
-    }
-}
-
-void Device::destroyTexture(gpu::Texture*& texture)
-{
-    if (texture == nullptr)
-        throw std::invalid_argument("Invalid parameter");
-
-    auto* texture_ = dynamic_cast<opengl::Texture*>(texture);
-
-    glDeleteTextures(1, &texture_->p_textureIndex);
-    gpu::Device::destroyTexture(texture);
-}
-
-
-void Device::Draw(int numFaces, int indexOffset, int vertexOffset)
-{
-    if (p_currentVertexBuffer != nullptr)
-        glDrawElementsBaseVertex(GL_TRIANGLES, numFaces * 3, GL_UNSIGNED_SHORT, (void*)(indexOffset * 2), vertexOffset);
-}
-
-}

source/hpr/gpu/opengl/device.hpp

@@ -1,106 +0,0 @@
-#pragma once
-
-#include "../device.hpp"
-
-#include <functional>
-
-
-namespace hpr::gpu::opengl
-{
-
-class Device : public gpu::Device
-{
-
-protected:
-
-    bool p_isInitialized;
-
-public:
-
-    // Constructors
-
-    Device();
-
-    ~Device() override;
-
-
-    // Member functions
-
-    // Setup
-
-    bool initialize() override;
-    bool destroy() override;
-
-    static
-    bool loadLoader();
-
-    // State
-
-    void faceCulling(bool enableFaceCulling, CullMode faceCullingMode) override;
-
-    // Render targets
-
-    void createScreenRenderTarget(RenderTarget** target, Window* window) override;
-    void createFramebufferRenderTarget(RenderTarget** target, int width, int height) override;
-    void createSubRenderTarget(RenderTarget** target, RenderTarget* parent, int x, int y, int width, int height) override;
-    void moveRenderTarget(RenderTarget* target, int x, int y) override;
-    void scaleRenderTarget(RenderTarget* target, int width, int height) override;
-    void destroyRenderTarget(RenderTarget*& target) override;
-
-    // Buffers
-
-    virtual
-    void createVertexBuffer(Buffer **buffer, int size, char* data);
-    virtual
-    void createIndexBuffer(Buffer **buffer, int size, char* data);
-    virtual
-    void createUniformBuffer(Buffer **buffer, int size, char* data);
-    virtual
-    void useVertexBuffer(Buffer* buffer, int stride, int offset);
-    virtual
-    void useIndexBuffer(Buffer* buffer, int offset);
-    virtual
-    void useUniformBuffer(Buffer* buffer, int slot);
-    virtual
-    void editBuffer(Buffer* buffer, char* data, int size, int offset);
-    virtual
-    void editBuffer(Buffer* buffer, char* data);
-    virtual
-    void destroyBuffer(Buffer*& buffer);
-
-    // Shaders
-
-    virtual
-    void createVertexShader(Shader** shader, const std::string& filename, const std::string& label);
-    virtual
-    void createFragmentShader(Shader** shader, const std::string& filename, const std::string& label);
-    virtual
-    void createGeometryShader(Shader** shader, const std::string& filename, const std::string& label);
-    virtual
-    void destroyShader(Shader* shader);
-
-    // Shader programs
-
-    virtual
-    void createShaderProgram(ShaderProgram** program);
-    virtual
-    void attachShader(ShaderProgram* program, Shader* shader);
-    virtual
-    void linkProgram(ShaderProgram* program);
-    virtual
-    void useShaderProgram(ShaderProgram* program);
-    virtual
-    void destroyShaderProgram(ShaderProgram*& program, bool withShaders);
-
-    // Textures
-
-    void createTexture(Texture** texture, const std::string& filename) override;
-    void useTexture(Texture* texture, int slot) override;
-    void destroyTexture(Texture*& texture) override;
-
-    //
-
-    void Draw(int numFaces, int indexOffset, int vertexOffset);
-};
-
-}

source/hpr/gpu/opengl/render_target.cpp

@@ -1,15 +0,0 @@
-#pragma once
-
-#include "render_target.hpp"
-
-
-namespace hpr::gpu::opengl
-{
-
-RenderTarget::RenderTarget() :
-    gpu::RenderTarget {DeviceAPI::OpenGL}
-{}
-
-RenderTarget::~RenderTarget() = default;
-
-}

source/hpr/gpu/opengl/render_target.hpp

@@ -1,42 +0,0 @@
-#pragma once
-
-#include "../render_target.hpp"
-
-
-namespace hpr::gpu::opengl
-{
-
-class RenderTarget : public gpu::RenderTarget
-{
-    friend class Device;
-
-protected:
-
-    unsigned int p_frameBufferIndex;
-    unsigned int p_depthBufferIndex;
-    unsigned int p_textureIndex;
-
-public:
-
-    RenderTarget();
-
-    ~RenderTarget() override;
-
-    unsigned int frameBuffer() const
-    {
-        return p_frameBufferIndex;
-    }
-
-    unsigned int depthBuffer() const
-    {
-        return p_depthBufferIndex;
-    }
-
-    unsigned int texture() const
-    {
-        return p_textureIndex;
-    }
-
-};
-
-}

source/hpr/gpu/opengl/shader.cpp

@@ -1,18 +0,0 @@
-//
-// Created by L-Nafaryus on 10/3/2022.
-//
-
-#include "shader.hpp"
-
-
-namespace hpr::gpu::opengl
-{
-
-Shader::Shader() :
-    gpu::Shader(DeviceAPI::OpenGL),
-    p_shaderIndex {0}
-{}
-
-Shader::~Shader() = default;
-
-}

source/hpr/gpu/opengl/shader.hpp

@@ -1,26 +0,0 @@
-
-#include "../shader.hpp"
-
-
-namespace hpr::gpu::opengl
-{
-
-class Shader : public gpu::Shader
-{
-    friend class Device;
-
-protected:
-
-    unsigned int p_shaderIndex;
-
-public:
-
-    // Constructors
-
-    Shader();
-
-    ~Shader() override;
-
-};
-
-}

source/hpr/gpu/opengl/shader_program.cpp

@@ -1,22 +0,0 @@
-
-#include "shader_program.hpp"
-#include "shader.hpp"
-
-
-namespace hpr::gpu::opengl
-{
-
-ShaderProgram::ShaderProgram() :
-    gpu::ShaderProgram {DeviceAPI::OpenGL},
-    p_shaderProgramIndex {0}
-{}
-
-ShaderProgram::~ShaderProgram()
-{}
-
-Shader* ShaderProgram::shader(gpu::Shader::ShaderType type)
-{
-    return static_cast<opengl::Shader*>(p_slots[(size_t)type]);
-}
-
-}

source/hpr/gpu/opengl/shader_program.hpp

@@ -1,35 +0,0 @@
-#pragma once
-
-#include "../shader_program.hpp"
-
-
-namespace hpr::gpu::opengl
-{
-
-// Forward declarations
-
-class Shader;
-
-//
-
-class ShaderProgram : public gpu::ShaderProgram
-{
-    friend class Device;
-
-protected:
-
-    unsigned int p_shaderProgramIndex;
-
-public:
-
-    ShaderProgram();
-
-    ~ShaderProgram();
-
-protected:
-
-    Shader* shader(gpu::Shader::ShaderType type);
-
-};
-
-}

source/hpr/gpu/opengl/texture.cpp

@@ -1,15 +0,0 @@
-
-#include "texture.hpp"
-
-
-namespace hpr::gpu::opengl
-{
-
-Texture::Texture() :
-    gpu::Texture {DeviceAPI::OpenGL},
-    p_textureIndex {0}
-{}
-
-Texture::~Texture() = default;
-
-}

source/hpr/gpu/opengl/texture.hpp

@@ -1,25 +0,0 @@
-#pragma once
-
-#include "../texture.hpp"
-
-
-namespace hpr::gpu::opengl
-{
-
-class Texture : public gpu::Texture
-{
-    friend class Device;
-
-protected:
-
-    unsigned int p_textureIndex;
-
-public:
-
-    Texture();
-
-    ~Texture() override;
-
-};
-
-}

source/hpr/gpu/render_target.cpp

@@ -1,35 +0,0 @@
-#include "render_target.hpp"
-
-
-namespace hpr::gpu
-{
-
-RenderTarget::RenderTarget() :
-    Context {DeviceAPI::Unknown},
-    p_posX {},
-    p_posY {},
-    p_width {},
-    p_height {},
-    p_type {Type::Unknown},
-    p_hasColorData {true},
-    p_hasDepthBuffer {false},
-    p_depthTestEnabled {false},
-    p_parent {nullptr}
-{}
-
-RenderTarget::RenderTarget(DeviceAPI api) :
-    Context {api},
-    p_posX {},
-    p_posY {},
-    p_width {},
-    p_height {},
-    p_type {Type::Unknown},
-    p_hasColorData {true},
-    p_hasDepthBuffer {false},
-    p_depthTestEnabled {false},
-    p_parent {nullptr}
-{}
-
-RenderTarget::~RenderTarget() = default;
-
-}

source/hpr/gpu/render_target.hpp

@@ -1,98 +0,0 @@
-#pragma once
-
-#include "context.hpp"
-
-
-namespace hpr::gpu
-{
-
-class RenderTarget : public Context
-{
-    friend class Device;
-
-public:
-
-    enum class Type
-    {
-        Unknown,
-        Screen,
-        Framebuffer
-    };
-
-protected:
-
-    int p_posX;
-    int p_posY;
-    int p_width;
-    int p_height;
-
-    Type p_type;
-
-    bool p_hasColorData;
-    bool p_hasDepthBuffer;
-    bool p_depthTestEnabled;
-
-    RenderTarget* p_parent;
-
-public:
-
-    RenderTarget();
-
-    RenderTarget(DeviceAPI api);
-
-    virtual
-    ~RenderTarget();
-
-    int posX() const
-    {
-        return p_posX;
-    }
-
-    int posY() const
-    {
-        return p_posY;
-    }
-
-    int width() const
-    {
-        return p_width;
-    }
-
-    int height() const
-    {
-        return p_height;
-    }
-
-    Type type() const
-    {
-        return p_type;
-    }
-
-    bool hasColorData() const
-    {
-        return p_hasColorData;
-    }
-
-    bool hasDepthBuffer() const
-    {
-        return p_hasDepthBuffer;
-    }
-
-    bool isDepthTestEnabled() const
-    {
-        return p_depthTestEnabled;
-    }
-
-    void depthTest(bool enable)
-    {
-        p_depthTestEnabled = enable;
-    }
-
-    RenderTarget* parent()
-    {
-        return p_parent;
-    }
-
-};
-
-}

source/hpr/gpu/renderbuffer.hpp

@@ -0,0 +1,69 @@
+#pragma once
+
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
+
+
+
+namespace hpr::gpu
+{
+
+    class Renderbuffer
+    {
+
+    protected:
+
+        unsigned int p_index;
+
+    public:
+
+        inline
+        Renderbuffer() :
+            p_index {0}
+        {}
+
+        virtual
+        ~Renderbuffer() = default;
+
+        [[nodiscard]]
+        unsigned int index() const
+        {
+            return p_index;
+        }
+
+        void bind()
+        {
+            glBindRenderbuffer(GL_RENDERBUFFER, p_index);
+        }
+
+        void unbind()
+        {
+            glBindRenderbuffer(GL_RENDERBUFFER, 0);
+        }
+
+        void create()
+        {
+            glGenRenderbuffers(1, &p_index);
+            glFramebufferRenderbuffer(GL_FRAMEBUFFER, GL_DEPTH_STENCIL_ATTACHMENT, GL_RENDERBUFFER, p_index);
+        }
+
+        void storage(int width, int height)
+        {
+            glBindRenderbuffer(GL_RENDERBUFFER, p_index);
+            glRenderbufferStorage(GL_RENDERBUFFER, GL_DEPTH24_STENCIL8, width, height);
+            glBindRenderbuffer(GL_RENDERBUFFER, 0);
+        }
+
+        void destroy()
+        {
+            glDeleteRenderbuffers(1, &p_index);
+        }
+
+        bool valid() const
+        {
+            return p_index != 0;
+        }
+    };
+
+}

source/hpr/gpu/scene.hpp

@@ -0,0 +1,8 @@
+//
+// Created by L-Nafaryus on 12/16/2022.
+//
+
+#ifndef HPR_SCENE_HPP
+#define HPR_SCENE_HPP
+
+#endif //HPR_SCENE_HPP

source/hpr/gpu/shader.cpp

@@ -1,39 +0,0 @@
-
-#include "shader.hpp"
-
-
-namespace hpr::gpu
-{
-
-Shader::Shader() :
-    Context {DeviceAPI::Unknown},
-    p_filename {},
-    p_label {},
-    p_type {ShaderType::Vertex}
-{}
-
-Shader::Shader(DeviceAPI api) :
-    Context {api},
-    p_filename {},
-    p_label {},
-    p_type {ShaderType::Vertex}
-{}
-
-Shader::~Shader() = default;
-
-std::string Shader::filename() const
-{
-    return p_filename;
-}
-
-std::string Shader::label() const
-{
-    return p_label;
-}
-
-Shader::ShaderType Shader::type() const
-{
-    return p_type;
-}
-
-}

source/hpr/gpu/shader.hpp

@@ -1,54 +1,129 @@
 #pragma once
 
-#include "context.hpp"
-
 #include <string>
 
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
 
 namespace hpr::gpu
 {
 
-class Shader : public Context
+class Shader
 {
-    friend class Device;
 
 public:
 
-    enum class ShaderType
+    enum class Type
     {
-        Vertex,
-        Geometry,
-        Fragment,
-        ShaderTypeCount
+        Vertex = GL_VERTEX_SHADER,
+        TessControl = GL_TESS_CONTROL_SHADER,
+        TessEvaluation = GL_TESS_EVALUATION_SHADER,
+        Geometry = GL_GEOMETRY_SHADER,
+        Fragment = GL_FRAGMENT_SHADER,
+        Compute = GL_COMPUTE_SHADER,
+        Unknown = -1
     };
 
 protected:
 
     std::string p_filename;
+    std::string p_source;
     std::string p_label;
-    ShaderType p_type;
+    Type p_type;
+
+    unsigned int p_index;
 
 public:
 
     // Constructors
 
-    Shader();
+    inline
+    Shader() :
+        p_filename {},
+        p_source {},
+        p_label {},
+        p_type {Type::Unknown},
+        p_index {0}
+    {}
 
-    explicit
-    Shader(DeviceAPI api);
+    inline
+    Shader(Type type) :
+        p_filename {},
+        p_source {},
+        p_label {},
+        p_type {type}
+    {}
 
-    ~Shader() override;
+    inline
+    Shader(Type type, const std::string& source) :
+        p_filename {},
+        p_source {source},
+        p_label {},
+        p_type {type},
+        p_index {0}
+    {}
+
+    virtual
+    ~Shader() = default;
 
     // Member functions
 
     [[nodiscard]]
-    std::string filename() const;
+    std::string filename() const
+    {
+        return p_filename;
+    }
 
     [[nodiscard]]
-    std::string label() const;
+    std::string label() const
+    {
+        return p_label;
+    }
 
     [[nodiscard]]
-    ShaderType type() const;
+    Type type() const
+    {
+        return p_type;
+    }
+
+    [[nodiscard]]
+    unsigned int index() const
+    {
+        return p_index;
+    }
+
+    void create(const std::string& label = "")
+    {
+        if (p_type == Type::Unknown)
+            throw std::runtime_error("Unknown shader type");
+
+        p_index = glCreateShader(static_cast<GLenum>(p_type));
+        if (p_index == 0)
+            throw std::runtime_error("Cannot create shader");
+
+        const char* shaderSource = p_source.c_str();
+        glShaderSource(p_index, 1, &shaderSource, nullptr);
+        GLenum result = glGetError();
+        glCompileShader(p_index);
+
+        int shaderStatus;
+        glGetShaderiv(p_index, GL_COMPILE_STATUS, &shaderStatus);
+        if (!shaderStatus)
+        {
+            char error[2048 + 1];
+            glGetShaderInfoLog(p_index, 2048, nullptr, error);
+
+            throw std::runtime_error(error);
+        }
+
+        p_label = label;
+    }
+
+    void destroy()
+    {
+        glDeleteShader(p_index);
+    }
 };
 
-} // end namespace hpr::gpu
+}

source/hpr/gpu/shader_program.cpp

@@ -1,20 +0,0 @@
-
-#include "shader_program.hpp"
-
-
-namespace hpr::gpu
-{
-
-ShaderProgram::ShaderProgram() : 
-    Context {DeviceAPI::Unknown},
-    p_isLinked {false}
-{}
-
-ShaderProgram::ShaderProgram(DeviceAPI api) : 
-    Context {api},
-    p_isLinked {false}
-{}
-
-ShaderProgram::~ShaderProgram() = default;
-
-}

source/hpr/gpu/shader_program.hpp

@@ -1,37 +1,96 @@
 #pragma once
 
-#include "context.hpp"
-#include "shader.hpp"
+#include "../containers.hpp"
 
-#include "../containers/array.hpp"
+#include <string>
 
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
 
 namespace hpr::gpu
 {
 
-class ShaderProgram : public Context
-{
-    friend class Device;
+    class ShaderProgram
+    {
 
-protected:
+    protected:
 
-    sarray<Shader*, (size_t)Shader::ShaderType::ShaderTypeCount> p_slots;
-    bool p_isLinked;
+        unsigned int p_index;
+        darray<Shader> p_shaders;
 
-public:
+    public:
 
         // Constructors
 
-    ShaderProgram();
+        inline
+        ShaderProgram() :
+            p_index {0}
+        {}
 
-    explicit
-    ShaderProgram(DeviceAPI api);
+        virtual
+        ~ShaderProgram() = default;
 
-    ~ShaderProgram() override;
+        [[nodiscard]]
+        unsigned int index() const
+        {
+            return p_index;
+        }
 
-    // Member functions
+        darray<Shader> shaders()
+        {
+            return p_shaders;
+        }
 
-    const Shader* getShader(Shader::ShaderType type) const;
-};
+        void create(const std::string& label = "")
+        {
+            p_index = glCreateProgram();
+        }
+
+        void attach(const Shader& shader)
+        {
+            glAttachShader(p_index, shader.index());
+            p_shaders.push(shader);
+        }
+
+        void detach(const Shader& shader)
+        {
+            // WARNING: segfault, destroy_at (char)
+            p_shaders.remove([shader](const Shader& _shader)
+            {
+                return shader.index() == _shader.index();
+            });
+
+            glDetachShader(p_index, shader.index());
+        }
+
+        void link()
+        {
+            glLinkProgram(p_index);
+
+            GLint status;
+            glGetProgramiv(p_index, GL_LINK_STATUS, &status);
+
+            if (status == GL_FALSE)
+                throw std::runtime_error("Shader program link error");
+        }
+
+        void destroy()
+        {
+            //for (auto& shader : p_shaders)
+            //    detach(shader);
+            glDeleteShader(p_index);
+        }
+
+        void bind()
+        {
+            glUseProgram(p_index);
+        }
+
+        void unbind()
+        {
+            glUseProgram(0);
+        }
+    };
 
 }

source/hpr/gpu/stencil_buffer.hpp

@@ -0,0 +1,84 @@
+#pragma once
+
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
+
+namespace hpr::gpu
+{
+
+    class StencilBuffer
+    {
+
+    protected:
+
+        bool p_enabled;
+        bool p_binded;
+
+    public:
+
+        inline
+        StencilBuffer() :
+            p_enabled {false},
+            p_binded {false}
+        {}
+
+        inline
+        StencilBuffer(bool enabled) :
+            p_enabled {enabled},
+            p_binded {false}
+        {}
+
+        virtual
+        ~StencilBuffer() = default;
+
+
+        inline
+        void bind()
+        {
+            p_binded = true;
+            glEnable(GL_STENCIL_TEST);
+        }
+
+        inline
+        void unbind()
+        {
+            p_binded = false;
+            glDisable(GL_STENCIL_TEST);
+        }
+
+        inline
+        bool binded() const
+        {
+            return p_binded;
+        }
+
+        inline
+        void enable()
+        {
+            p_enabled = true;
+            glStencilMask(GL_TRUE);
+        }
+
+        inline
+        void disable()
+        {
+            p_enabled = false;
+            glStencilMask(GL_FALSE);
+        }
+
+        [[nodiscard]]
+        inline
+        bool enabled() const
+        {
+            return p_enabled;
+        }
+
+        inline
+        void clear() const
+        {
+            glClear(GL_STENCIL_BUFFER_BIT);
+        }
+    };
+
+}

source/hpr/gpu/texture.cpp

@@ -1,40 +0,0 @@
-
-#include "texture.hpp"
-
-
-namespace hpr::gpu
-{
-
-Texture::Texture() :
-    Context {DeviceAPI::Unknown},
-    p_filename {},
-    p_width {0},
-    p_height {0}
-{}
-
-
-Texture::Texture(DeviceAPI api) :
-        Context {api},
-        p_filename {},
-        p_width {0},
-        p_height {0}
-{}
-
-Texture::~Texture() = default;
-
-std::string Texture::filename() const
-{
-    return p_filename;
-}
-
-int Texture::width() const
-{
-    return p_width;
-}
-
-int Texture::height() const
-{
-    return p_height;
-}
-
-}

source/hpr/gpu/texture.hpp

@@ -1,42 +1,193 @@
 #pragma once
 
-#include "context.hpp"
+#include "../containers.hpp"
 
 #include <string>
+#include <filesystem>
+#define STB_IMAGE_IMPLEMENTATION
+#include <stb_image.h>
 
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
 
 namespace hpr::gpu
 {
 
-class Texture : public Context
-{
-protected:
+    class Texture
+    {
 
+    public:
+
+        using ustring = std::basic_string<unsigned char>;
+
+    public:
+
+        enum class Format
+        {
+            RGB = GL_RGB,
+            RGBA = GL_RGBA
+        };
+
+    protected:
+
+        unsigned int p_index;
         std::string p_filename;
+        ustring p_source;
+
         int p_width;
         int p_height;
+        Format p_internalFormat;
+        Format p_imageFormat;
 
-public:
+    public:
 
-    // Constructors
+        inline
+        Texture() :
+            p_index {0},
+            p_filename {},
+            p_source {},
+            p_width {},
+            p_height {},
+            p_internalFormat {Format::RGBA},
+            p_imageFormat {Format::RGBA}
+        {}
 
-    Texture();
+        inline
+        Texture(const std::string& filename) :
+            p_index {0},
+            p_filename {filename},
+            p_source {},
+            p_width {},
+            p_height {},
+            p_internalFormat {Format::RGB},
+            p_imageFormat {Format::RGB}
+        {}
 
-    explicit
-    Texture(DeviceAPI api);
-
-    ~Texture() override;
-
-    // Member functions
+        virtual
+        ~Texture() = default;
 
         [[nodiscard]]
-    std::string filename() const;
+        unsigned int index() const
+        {
+            return p_index;
+        }
 
         [[nodiscard]]
-    int width() const;
+        unsigned int width() const
+        {
+            return p_width;
+        }
 
         [[nodiscard]]
-    int height() const;
-};
+        unsigned int height() const
+        {
+            return p_height;
+        }
+
+        void active()
+        {
+            glActiveTexture(GL_TEXTURE0 + p_index);
+        }
+
+        void bind()
+        {
+            glBindTexture(GL_TEXTURE_2D, p_index);
+        }
+
+        void unbind()
+        {
+            glBindTexture(GL_TEXTURE_2D, 0);
+        }
+
+        void alphaChannel(bool enabled)
+        {
+            if (enabled)
+            {
+                p_internalFormat = Format::RGBA;
+                p_imageFormat = Format::RGBA;
+            }
+            else
+            {
+                p_internalFormat = Format::RGB;
+                p_imageFormat = Format::RGB;
+            }
+        }
+
+        void load(const std::string& filename)
+        {
+            auto filepath = std::filesystem::canonical(std::filesystem::path(filename)).string();
+
+            stbi_set_flip_vertically_on_load(true);
+            int channelsCount;
+            unsigned char* source = stbi_load(filepath.c_str(), &p_width, &p_height, &channelsCount, 0);
+
+            if (!source)
+                throw std::runtime_error("Failed to load texture source");
+            else
+                create(source);
+
+            stbi_image_free(source);
+        }
+
+        void load()
+        {
+            load(p_filename);
+        }
+
+        void create()
+        {
+            glGenTextures(1, &p_index);
+            bind();
+
+            glTexImage2D(GL_TEXTURE_2D, 0, (GLint)p_internalFormat, p_width, p_height, 0, (GLint)p_imageFormat, GL_UNSIGNED_BYTE, nullptr);
+
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+
+            unbind();
+        }
+
+        void create(const ustring& source)
+        {
+            glGenTextures(1, &p_index);
+            bind();
+
+            glTexImage2D(GL_TEXTURE_2D, 0, (GLint)p_internalFormat, p_width, p_height, 0, (GLint)p_imageFormat, GL_UNSIGNED_BYTE, source.data());
+
+            p_source = source;
+
+            glGenerateMipmap(GL_TEXTURE_2D);
+
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MIN_FILTER, GL_LINEAR);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_MAG_FILTER, GL_LINEAR);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_R, GL_CLAMP_TO_EDGE);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_S, GL_CLAMP_TO_EDGE);
+            glTexParameteri(GL_TEXTURE_2D, GL_TEXTURE_WRAP_T, GL_CLAMP_TO_EDGE);
+
+            unbind();
+        }
+
+        void rescale(int width, int height)
+        {
+            bind();
+            glTexImage2D(GL_TEXTURE_2D, 0, (GLint)p_internalFormat, p_width, p_height, 0, (GLint)p_imageFormat, GL_UNSIGNED_BYTE, !p_source.empty() ? p_source.data() : nullptr);
+            unbind();
+        }
+
+        void destroy()
+        {
+            glDeleteTextures(1, &p_index);
+        }
+
+        bool valid() const
+        {
+            return p_index != 0;
+        }
+    };
+
+}
 
-} // end namespace hpr::gpu

source/hpr/gpu/viewer.hpp

@@ -0,0 +1,8 @@
+//
+// Created by L-Nafaryus on 12/16/2022.
+//
+
+#ifndef HPR_VIEWER_HPP
+#define HPR_VIEWER_HPP
+
+#endif //HPR_VIEWER_HPP

source/hpr/gpu/viewport.hpp

@@ -0,0 +1,45 @@
+#pragma once
+
+#include "../math/vector.hpp"
+#ifndef __gl_h_
+#include <glad/glad.h>
+#endif
+
+
+namespace hpr::gpu
+{
+
+class Viewport
+{
+
+protected:
+
+    vec2 p_pos;
+    vec2 p_size;
+
+public:
+
+    inline
+    Viewport() :
+        p_pos {0.f, 0.f},
+        p_size {0.f, 0.f}
+    {}
+
+    inline
+    Viewport(const vec2& pos, const vec2& size) :
+        p_pos {pos},
+        p_size {size}
+    {}
+
+    virtual
+    ~Viewport() = default;
+
+    inline
+    void set()
+    {
+        glViewport(p_pos[0], p_pos[1], p_size[0], p_size[1]);
+    }
+
+};
+
+}

source/hpr/io/CMakeLists.txt

@@ -63,4 +63,6 @@ install(
 )
 
 
-
+if(HPR_TEST)
+    add_subdirectory(tests)
+endif()

source/hpr/io/logger.hpp

@@ -1,35 +1,274 @@
 #pragma once
 
-#include <ostream>
-
+#include "../containers/array.hpp"
+#include <iostream>
+#include <memory>
+#include <sstream>
+#include <vector>
 
 namespace hpr
 {
-    class Logger
-    {
-    public:
+
+
+namespace logging
+{
     enum Severity
     {
-            None,
+        Emergency,
+        Alert,
+        Critical,
         Error,
         Warning,
+        Notice,
         Info,
         Debug
     };
-        static Severity severity;
 
-        template <typename T>
-        friend
-        Logger& operator<<(Logger& l, const T& data)
+    class Sink
     {
-            if (severity == Info)
-                std::cout << data << std::endl;
-            else if (severity == Error)
-                std::cerr << data << std::endl;
+        //friend class Logger;
 
-            return l;
+    protected:
+
+        Severity p_severity;
+        std::string_view p_message;
+
+    public:
+
+        Sink() :
+            p_severity {Emergency},
+            p_message {}
+        {}
+
+        Sink(Severity severity) :
+            p_severity {severity},
+            p_message {}
+        {}
+
+        void addMessage(const std::string_view& message)
+        {
+            p_message = message;
         }
+
+        virtual
+        void flush() = 0;
+
+
+        virtual
+        ~Sink() = default;
+
     };
-    Logger::Severity Logger::severity = Logger::Warning;
-    Logger logger;
+
+    class StandardOutput : public Sink
+    {
+
+    public:
+
+        StandardOutput() :
+            Sink()
+        {}
+
+        explicit
+        StandardOutput(Severity severity) :
+            Sink(severity)
+        {}
+
+        void flush() override
+        {
+            if (p_severity < Error)
+                std::cerr << p_message << "\n";
+            if (p_severity < Debug)
+                std::cout << p_message << "\n";
+            std::cout.flush();
+        }
+
+
+        ~StandardOutput() override = default;
+
+    };
+
+    enum class LoggerState
+    {
+        Endline,
+        Flush,
+        Exception,
+        Exit
+    };
+
+    class Logger
+    {
+        static Logger g_instance;
+        static darray<Sink*> g_sinks;
+
+    protected:
+
+        Severity p_severity;
+        std::ostringstream p_stream;
+        int p_exitcode;
+        sarray<std::string, 8> p_levelNames;
+        darray<std::string> p_buffer;
+
+    protected:
+
+        Logger() :
+            p_severity {Emergency},
+            p_stream {},
+            p_exitcode {-1},
+            p_levelNames { "Emergency", "Alert", "Critical", "Error", "Warning", "Notice", "Info", "Debug"}
+        {}
+
+        static Logger& instance()
+        {
+            return g_instance;
+        }
+
+    public:
+
+        static void destroy()
+        {
+            for (Sink* sink : g_sinks)
+                delete sink;
+            g_sinks.clear();
+        }
+
+        static darray<Sink*>& sinks()
+        {
+            return g_sinks;
+        }
+
+        static void addSink(Sink* sink)
+        {
+            if (sink != nullptr)
+                g_sinks.push(sink);
+        }
+
+        static Severity severity()
+        {
+            return g_instance.p_severity;
+        }
+
+        static void severity(Severity severity)
+        {
+            g_instance.p_severity = severity;
+        }
+
+        // begin functions
+        friend
+        std::ostringstream&& log(Severity severity);
+
+
+
+        // end functions
+        friend
+        LoggerState endl();
+
+        friend
+        LoggerState flush();
+
+        friend
+        LoggerState exception();
+
+        friend
+        LoggerState exit(int code);
+
+        //
+        friend
+        std::ostream& operator<<(std::ostream& stream, const LoggerState& state);
+    };
+
+    //
+    Logger Logger::g_instance;
+    darray<Sink*> Logger::g_sinks;
+
+    //
+    std::ostringstream&& log(Severity severity)
+    {
+        Logger& instance = Logger::instance();
+        instance.p_severity = severity;
+        //std::ostringstream oss;
+        //return instance.p_stream;
+        return std::move(std::ostringstream());// oss;//std::forward(oss);
+    }
+
+    std::ostringstream&& error()
+    {
+        return log(Error);
+    }
+
+    //
+    LoggerState endl()
+    {
+        return LoggerState::Endline;
+    }
+
+    LoggerState flush()
+    {
+        return LoggerState::Flush;
+    }
+
+    LoggerState exception()
+    {
+        return LoggerState::Exception;
+    }
+
+    LoggerState exit(int code)
+    {
+        Logger& instance = Logger::instance();
+        instance.p_exitcode = code;
+        return LoggerState::Exit;
+    }
+
+
+    std::ostream& operator<<(std::ostream& stream, const LoggerState& state)
+    {
+        stream << std::endl;
+        std::ostringstream oss;
+        oss << stream.rdbuf();
+        std::string test = oss.str();
+        std::cout << test << std::endl;
+        //static std::mutex mtx;
+        //std::lock_guard<std::mutex> lock(mtx);
+        Logger& instance = Logger::instance();
+
+        if (state >= LoggerState::Endline)
+        {
+            stream << "\n";
+        }
+
+        //instance.p_stream << stream.rdbuf();
+
+
+        if (state >= LoggerState::Flush)
+        {
+            // default sink
+            if (Logger::sinks().is_empty())
+            {
+                std::unique_ptr<Sink> sink = std::make_unique<StandardOutput>(Logger::severity());
+                sink->addMessage(oss.str());
+                sink->flush();
+                //delete sink;
+            }
+
+            // global sinks
+            for (Sink* sink : Logger::sinks())
+            {
+                sink->addMessage(oss.str());
+                sink->flush();
+            }
+        }
+
+        if (state == LoggerState::Exception)
+        {
+            throw std::runtime_error(oss.str());
+        }
+
+        if (state == LoggerState::Exit)
+        {
+            std::exit(instance.p_exitcode);
+        }
+
+        //instance.p_stream.flush();
+        return stream;
+    }
+}
 }

source/hpr/io/tests/CMakeLists.txt

@@ -0,0 +1,14 @@
+file(GLOB tests_cpp "*.cpp")
+
+add_executable(${PROJECT_NAME}-tests
+    ${tests_cpp}
+)
+
+target_link_libraries(${PROJECT_NAME}-tests
+    PUBLIC
+        hpr::${PROJECT_NAME}
+    PRIVATE
+        GTest::gtest_main
+)
+
+gtest_add_tests(TARGET ${PROJECT_NAME}-tests)

source/hpr/io/tests/io-test.cpp

@@ -0,0 +1,23 @@
+#include <gtest/gtest.h>
+
+#include "../logger.hpp"
+#include <thread>
+
+void task1()
+{
+    using namespace hpr;
+    logging::error() << "Not error: thread " << std::this_thread::get_id() << logging::flush();
+    //std::cout << (logging::error() << "Not error: thread " << std::this_thread::get_id()).str() << std::endl;// << logging::flush();
+    //std::cout << "Not error: thread " << std::this_thread::get_id() << std::endl;
+}
+
+TEST(io, Logger)
+{
+    using namespace hpr;
+    logging::error() << "Not error: main thread" << logging::flush();
+    std::cout << "Main thread " << std::this_thread::get_id() << std::endl;
+    /*std::thread t1 {task1};
+    std::thread t2 {task1};
+    t1.join();
+    t2.join();*/
+}

source/hpr/math/CMakeLists.txt

@@ -10,7 +10,7 @@ add_library(${CMAKE_PROJECT_NAME}::${PROJECT_NAME} ALIAS ${PROJECT_NAME})
 add_module(${PROJECT_NAME})
 
 file(GLOB ${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_HEADERS
-    "../math.hpp" "*.hpp" "scalar/*.hpp" "vector/*.hpp" "matrix/*.hpp"
+    "../math.hpp" "*.hpp" "scalar/*.hpp" "vector/*.hpp" "matrix/*.hpp" "quaternion/*.hpp"
 )
 
 foreach(_header_path ${${CMAKE_PROJECT_NAME}_${PROJECT_NAME}_HEADERS})

source/hpr/math/integer.hpp

@@ -0,0 +1,4 @@
+#pragma once
+
+#include "integer/integer.hpp"
+#include "integer/size.hpp"

source/hpr/math/integer/integer.hpp

@@ -0,0 +1,17 @@
+#pragma once
+
+#include <type_traits>
+
+
+namespace hpr
+{
+    // type traits
+
+    template <typename Type>
+    struct is_integer : public std::is_integral<Type> {};
+
+    // concepts
+
+    template <typename Type>
+    concept IsInteger = is_integer<Type>::value;
+}

source/hpr/math/integer/size.hpp

@@ -0,0 +1,22 @@
+#pragma once
+
+#include <type_traits>
+
+namespace hpr
+{
+
+    using Size = std::size_t;
+
+    // type traits
+
+    template <typename Type>
+    struct is_size : public std::integral_constant<bool, std::is_integral<Type>::value && std::is_unsigned<Type>::value> {};
+
+    // concepts
+
+    template <typename Type>
+    concept IsSize = is_size<Type>::value || std::convertible_to<Type, Size>;
+
+
+    //using Size = typename IsSize<std::size_t>::type;
+}

source/hpr/math/matrix/clip_space.hpp

@@ -6,11 +6,11 @@
 namespace hpr
 {
 
-template <typename Type>
+template <IsReal T>
 inline
-MatrixSpace<Type, 4, 4> ortho(Type left, Type right, Type bottom, Type top)
+Matrix<T, 4, 4> ortho(T left, T right, T bottom, T top)
 {
-    MatrixSpace<Type, 4, 4> ms;
+    Matrix<T, 4, 4> ms;
     ms.fill(1);
     ms(0, 0) = 2 / (right - left);
     ms(1, 1) = 2 / (top - bottom);
@@ -20,12 +20,12 @@ MatrixSpace<Type, 4, 4> ortho(Type left, Type right, Type bottom, Type top)
     return ms;
 }
 
-template <typename Type>
+template <IsReal T>
 inline
-MatrixSpace<Type, 4, 4> ortho(Type left, Type right, Type bottom, Type top, Type zNear, Type zFar)
+Matrix<T, 4, 4> ortho(T left, T right, T bottom, T top, T zNear, T zFar)
 {
-    MatrixSpace<Type, 4, 4> ms;
-    ms.fill(1);
+    Matrix<T, 4, 4> ms {1};
+    //ms.fill(1);
     ms(0, 0) = 2 / (right - left);
     ms(1, 1) = 2 / (top - bottom);
     ms(2, 2) = 2 / (zFar - zNear);
@@ -35,13 +35,13 @@ MatrixSpace<Type, 4, 4> ortho(Type left, Type right, Type bottom, Type top, Type
     return ms;
 }
 
-template <typename Type>
+template <IsReal T>
 inline
-MatrixSpace<Type, 4, 4> perspective(Type fovy, Type aspect, Type zNear, Type zFar)
+Matrix<T, 4, 4> perspective(T fovy, T aspect, T zNear, T zFar)
 {
-    assert(abs(aspect - std::numeric_limits<Type>::epsilon()) > 0);
-    MatrixSpace<Type, 4, 4> ms;
-    const Type halfFovyTan = tan(fovy / 2);
+    assert(abs(aspect - std::numeric_limits<T>::epsilon()) > 0);
+    Matrix<T, 4, 4> ms;
+    const T halfFovyTan = tan(fovy / 2);
     ms(0, 0) = 1 / (aspect * halfFovyTan);
     ms(1, 1) = 1 / halfFovyTan;
     ms(2, 2) = (zFar + zNear) / (zFar - zNear);

source/hpr/math/matrix/matrix_space.hpp

@@ -1,23 +1,49 @@
 #pragma once
 
-#include "../vector.hpp"
+#include "../integer.hpp"
+#include "../scalar.hpp"
+#include "../../containers/array/static_array.hpp"
 
 
 namespace hpr
 {
 
-template <typename Type, size_t Rows, size_t Cols>
-class MatrixSpace : public VectorSpace<Type, Rows * Cols>
-{
-    static_assert(Rows >= 1);
-    static_assert(Cols >= 1);
-    using base = VectorSpace<Type, Rows * Cols>;
+// forward declarations
+
+template <IsReal Type, Size Rows, Size Cols> requires (Rows >= 0 && Cols >= 0)
+class Matrix;
+
+template <IsReal Type, Size Rows, Size Cols>
+using SubMatrix = typename std::conditional<(Rows >= 2 && Cols >= 2), Matrix<Type, Rows - 1, Cols - 1>, Matrix<Type, 1, 1>>::type;
+
+// type traits
+
+template <typename T>
+struct is_matrix : public std::false_type {};
+
+template <typename T, Size Rows, Size Cols>
+struct is_matrix<Matrix<T, Rows, Cols>> : public std::true_type {};
+
+// concepts
+
+template <typename T>
+concept IsMatrix = is_matrix<T>::value;
+
+}
+
+namespace hpr
+{
+
+template <IsReal Type, Size Rows, Size Cols> requires (Rows >= 0 && Cols >= 0)
+class Matrix : public StaticArray<Type, Rows * Cols>
+{
+
+    using base = StaticArray<Type, Rows * Cols>;
 
-    using Minor = typename std::conditional<(Rows >= 2 && Cols >= 2), MatrixSpace<Type, Rows - 1, Cols - 1>, MatrixSpace<Type, 1, 1>>::type;
 public:
 
     using value_type = Type;
-    using size_type = size_t;
+    using size_type = Size;
     using pointer = Type*;
     using reference = Type&;
     using iterator = Iterator<Type>;
@@ -26,82 +52,101 @@ public:
 
 protected:
 
-    static
-    const size_type p_mrows = Rows - 1;
-    static
-    const size_type p_mcols = Cols - 1;
     size_type p_rows;
     size_type p_cols;
 
 public:
 
     inline
-    MatrixSpace() :
+    Matrix() :
         base {},
         p_rows {Rows},
         p_cols {Cols}
     {}
 
     inline
-    MatrixSpace(const MatrixSpace& ms) :
+    Matrix(const Matrix& ms) :
         base {static_cast<base>(ms)},
         p_rows {Rows},
         p_cols {Cols}
     {}
 
-    inline explicit
-    MatrixSpace(const base& ms) :
-        base {ms},
+    inline
+    Matrix(Matrix&& ms) noexcept:
+        base {std::forward<base>(static_cast<base>(ms))},
         p_rows {Rows},
         p_cols {Cols}
     {}
 
     inline
-    MatrixSpace(MatrixSpace&& ms) noexcept :
-        base {std::move(static_cast<base>(ms))},
-        p_rows {Rows},
-        p_cols {Cols}
-    {}
-
-    inline
-    MatrixSpace& operator=(const MatrixSpace& ms)
+    Matrix& operator=(const Matrix& ms)
     {
         base::operator=(ms);
         return *this;
     }
 
+    inline explicit
+    Matrix(const base& vs) :
+            base {vs},
+            p_rows {Rows},
+            p_cols {Cols}
+    {}
+
+    inline explicit
+    Matrix(base&& vs) noexcept:
+        base {std::forward<base>(vs)},
+        p_rows {Rows},
+        p_cols {Cols}
+    {}
+
     inline
-    MatrixSpace(typename base::iterator start, typename base::iterator end) :
+    Matrix(typename base::iterator start, typename base::iterator end) :
         base {start, end},
         p_rows {Rows},
         p_cols {Cols}
     {}
 
     inline
-    MatrixSpace(typename base::const_iterator start, typename base::const_iterator end) :
+    Matrix(typename base::const_iterator start, typename base::const_iterator end) :
         base {start, end},
         p_rows {Rows},
         p_cols {Cols}
     {}
 
     inline
-    MatrixSpace(std::initializer_list<value_type> list) :
+    Matrix(std::initializer_list<value_type> list) :
         base {list},
         p_rows {Rows},
         p_cols {Cols}
     {}
 
-    template <std::convertible_to<value_type>... Args>
+    template <IsReal... Args>
     inline
-    MatrixSpace(value_type&& v, Args&& ...args) :
+    Matrix(value_type&& v, Args&& ...args) requires (1 + sizeof...(args) == Rows * Cols):
         base {v, static_cast<value_type>(std::forward<Args>(args))...},
         p_rows {Rows},
         p_cols {Cols}
+    {}
+
+    inline
+    Matrix(const value_type& v) :
+        base {},
+        p_rows {Rows},
+        p_cols {Cols}
     {
-        static_assert(1 + sizeof...(args) == Rows * Cols, "Number of arguments must be equal to rows * cols of matrix");
+        for (Size n = 0; n < Rows * Cols; ++n)
+            (*this)[n] = v;
     }
 
-    // Member functions
+    inline
+    Matrix& operator=(const value_type& v)
+    {
+        for (Size n = 0; n < Rows * Cols; ++n)
+            (*this)[n] = v;
+        return *this;
+    }
+
+    // access
 
     inline
     reference operator()(size_type row, size_type col)
@@ -123,154 +168,56 @@ public:
         return (*this)[col + p_rows * row];
     }
 
-    VectorSpace<value_type, Cols> row(size_type row)
+    Vector<value_type, Cols> row(size_type row)
     {
-        VectorSpace<value_type, Cols> vs;
+        Vector<value_type, Cols> vs;
         for (auto n = 0; n < Cols; ++n)
             vs[n] = (*this)(row, n);
         return vs;
     }
 
-    VectorSpace<value_type, Cols> row(size_type row) const
+    Vector<value_type, Cols> row(size_type row) const
     {
-        VectorSpace<value_type, Cols> vs;
+        Vector<value_type, Cols> vs;
         for (auto n = 0; n < Cols; ++n)
             vs[n] = (*this)(row, n);
         return vs;
     }
 
-    void row(size_type row, const VectorSpace<value_type, Cols>& vs)
+    void row(size_type row, const Vector<value_type, Cols>& vs)
     {
         for (auto n = 0; n < Cols; ++n)
             (*this)(n, row) = vs[n];
     }
 
-    VectorSpace<value_type, Rows> col(size_type col)
+    Vector<value_type, Rows> col(size_type col)
     {
-        VectorSpace<value_type, Rows> vs;
+        Vector<value_type, Rows> vs;
         for (auto n = 0; n < Rows; ++n)
             vs[n] = (*this)(n, col);
         return vs;
     }
 
-    void col(size_type col, const VectorSpace<value_type, Rows>& vs)
+    void col(size_type col, const Vector<value_type, Rows>& vs)
     {
         for (auto n = 0; n < Rows; ++n)
             (*this)(n, col) = vs[n];
     }
 
-    size_type rows() const { return p_rows; }
-    size_type cols() const { return p_cols; }
+    [[nodiscard]] constexpr size_type rows() const { return p_rows; }
+    [[nodiscard]] constexpr size_type cols() const { return p_cols; }
+
+    // member functions
 
     [[nodiscard]]
-    inline
+    constexpr
     bool is_square() const
     {
         return p_rows == p_cols;
     }
 
     inline
-    Minor minor(size_type row, size_type col)
-    {
-        if (this->size() < 4)
-            throw std::runtime_error("Impossible to find minor for matrix with size less than 2x2");
-        Minor minor;
-        auto minor_iter = minor.begin();
-        for (auto n = 0; n < Rows; ++n)
-            for (auto k = 0; k < Cols; ++k)
-                if (k != col && n != row)
-                    *(minor_iter++) = (*this)[k + p_rows * n];
-        return minor;
-    }
-
-    inline
-    value_type det()
-    {
-        if (!is_square())
-            throw std::runtime_error("Matrix must be square");
-        if (this->size() == 1)
-            return (*this)[0];
-        else if (this->size() == 4)
-            return (*this)(0, 0) * (*this)(1, 1) - (*this)(0, 1) * (*this)(1, 0);
-        else {
-            auto res = 0;
-            for (auto m = 0; m < Cols; ++m)
-                res += std::pow(-1, m) * (*this)(0, m) * minor(0, m).det();
-            return res;
-        }
-    }
-
-    inline
-    MatrixSpace transpose()
-    {
-        MatrixSpace ms;
-        for (auto n = 0; n < Rows; ++n)
-            for (auto k = 0; k < Cols; ++k)
-                ms(k, n) = (*this)(n, k);
-        return ms;
-    }
-
-    inline
-    MatrixSpace adj()
-    {
-        MatrixSpace ms;
-        for (auto n = 0; n < Rows; ++n)
-            for (auto k = 0; k < Cols; ++k)
-            {
-                ms(n, k) = std::pow(-1, n + k) * minor(n, k).det();
-            }
-        return ms.transpose();
-    }
-
-    inline
-    MatrixSpace inv()
-    {
-        return MatrixSpace(adj() / det());
-    }
-
-    // Friend functions
-
-    friend inline
-    bool operator==(const MatrixSpace& lhs, const MatrixSpace& rhs)
-    {
-        for (auto n = 0; n < lhs.size(); ++n)
-            if (lhs[n] != rhs[n])
-                return false;
-        return true;
-    }
-
-    friend inline
-    bool operator!=(const MatrixSpace& lhs, const MatrixSpace& rhs)
-    {
-        return !(lhs == rhs);
-    }
-
-    template <typename T, size_type S>
-    friend inline
-    bool operator==(const MatrixSpace& lhs, const VectorSpace<T, S>& rhs)
-    {
-        return false;
-    }
-
-    friend inline
-    VectorSpace<Type, Cols> operator*(const VectorSpace<Type, Cols>& vs, const MatrixSpace& ms)
-    {
-        VectorSpace<Type, Cols> res;
-        for (auto n = 0; n < Cols; ++n)
-            res[0] = sum(ms.col(n) * vs);
-        return res;
-    }
-
-    friend inline
-    VectorSpace<Type, Rows> operator*(const MatrixSpace& ms, const VectorSpace<Type, Rows>& vs)
-    {
-        VectorSpace<Type, Rows> res;
-        for (auto n = 0; n < Rows; ++n)
-            res[0] = sum(ms.row(n) * vs);
-        return res;
-    }
-
-    MatrixSpace& fill(value_type value)
+    Matrix& fill(value_type value)
     {
         for (auto n = 0; n < this->size(); ++n)
             (*this)[n] = value;
@@ -280,9 +227,9 @@ public:
     // Global functions
 
     static inline
-    MatrixSpace identity()
+    Matrix identity()
     {
-        MatrixSpace ms;
+        Matrix ms;
         for (auto n = 0; n < Rows; ++n)
             for (auto k = 0; k < Cols; ++k)
                 ms(n, k) = 1;
@@ -290,13 +237,128 @@ public:
     }
 };
 
+// global operators
+
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C> operator+(const Matrix<T, R, C>& lhs) { Matrix<T, R, C> ms; for (Size n = 0; n < lhs.size(); ++n) ms[n] = lhs[n]; return ms; }
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C> operator-(const Matrix<T, R, C>& lhs) { Matrix<T, R, C> ms; for (Size n = 0; n < lhs.size(); ++n) ms[n] = -lhs[n]; return ms; }
+
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C>& operator+=(Matrix<T, R, C>& lhs, const Matrix<T, R, C>& rhs) { for (Size n = 0; n < lhs.size(); ++n) lhs[n] += rhs[n]; return lhs; }
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C>& operator-=(Matrix<T, R, C>& lhs, const Matrix<T, R, C>& rhs) { for (Size n = 0; n < lhs.size(); ++n) lhs[n] -= rhs[n]; return lhs; }
+template <IsReal T, Size R, Size C, Size R2, Size C2> requires (R == C2 && R2 == C) inline Matrix<T, R, C>& operator*=(Matrix<T, R, C>& lhs, const Matrix<T, R, C>& rhs) { Matrix<T, R, C> temp {lhs}; for (Size n = 0; n < R; ++n) for (Size k = 0; k < C; ++k) lhs(n, k) = sum(temp.col(k) * rhs.row(n)); return lhs; }
+
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C> operator+(const Matrix<T, R, C>& lhs, const Matrix<T, R, C>& rhs) { Matrix<T, R, C> ms {lhs}; for (Size n = 0; n < lhs.size(); ++n) ms[n] += rhs[n]; return ms; }
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C> operator-(const Matrix<T, R, C>& lhs, const Matrix<T, R, C>& rhs) { Matrix<T, R, C> ms {lhs}; for (Size n = 0; n < lhs.size(); ++n) ms[n] -= rhs[n]; return ms; }
+template <IsReal T, Size R, Size C, Size R2, Size C2> requires (R == C2 && R2 == C) inline Matrix<T, R, C> operator*(const Matrix<T, R, C>& lhs, const Matrix<T, R, C>& rhs) { Matrix<T, R, C> ms; for (Size n = 0; n < R; ++n) for (Size k = 0; k < C; ++k) ms(n, k) = sum(lhs.col(k) * rhs.row(n)); return ms; }
+
+template <IsReal T, Size R, Size C> inline bool operator==(const Matrix<T, R, C>& lhs, const Matrix<T, R, C>& rhs) { for (Size n = 0; n < lhs.size(); ++n) if (lhs[n] != rhs[n]) return false; return true; }
+template <IsReal T, Size R, Size C> inline bool operator!=(const Matrix<T, R, C>& lhs, const Matrix<T, R, C>& rhs) { for (Size n = 0; n < lhs.size(); ++n) if (lhs[n] == rhs[n]) return false; return true; }
+
+
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C>& operator+=(Matrix<T, R, C>& lhs, const T& rhs) { for (Size n = 0; n < lhs.size(); ++n) lhs[n] += rhs; return lhs; }
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C>& operator-=(Matrix<T, R, C>& lhs, const T& rhs) { for (Size n = 0; n < lhs.size(); ++n) lhs[n] -= rhs; return lhs; }
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C>& operator*=(Matrix<T, R, C>& lhs, const T& rhs) { for (Size n = 0; n < lhs.size(); ++n) lhs[n] *= rhs; return lhs; }
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C>& operator/=(Matrix<T, R, C>& lhs, const T& rhs) { for (Size n = 0; n < lhs.size(); ++n) lhs[n] /= rhs; return lhs; }
+
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C> operator+(const Matrix<T, R, C>& lhs, const T& rhs) { Matrix<T, R, C> ms {lhs}; for (Size n = 0; n < lhs.size(); ++n) ms[n] += rhs; return ms; }
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C> operator-(const Matrix<T, R, C>& lhs, const T& rhs) { Matrix<T, R, C> ms {lhs}; for (Size n = 0; n < lhs.size(); ++n) ms[n] -= rhs; return ms; }
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C> operator*(const Matrix<T, R, C>& lhs, const T& rhs) { Matrix<T, R, C> ms {lhs}; for (Size n = 0; n < lhs.size(); ++n) ms[n] *= rhs; return ms; }
+template <IsReal T, Size R, Size C> inline Matrix<T, R, C> operator/(const Matrix<T, R, C>& lhs, const T& rhs) { Matrix<T, R, C> ms {lhs}; for (Size n = 0; n < lhs.size(); ++n) ms[n] /= rhs; return ms; }
+
+
+template <IsReal T, Size R, Size C> inline Vector<T, R> operator*(const Matrix<T, R, C>& ms, const Vector<T, R>& vs) { Vector<T, R> res; for (Size n = 0; n < R; ++n) res[0] = sum(ms.row(n) * vs); return res; }
+template <IsReal T, Size R, Size C> inline Vector<T, C> operator*(const Vector<T, R>& vs, const Matrix<T, R, C>& ms) { Vector<T, C> res; for (Size n = 0; n < C; ++n) res[0] = sum(ms.col(n) * vs); return res; }
+
+template <IsReal T, Size R, Size C> inline bool operator==(const Matrix<T, R, C>& lhs, const Vector<T, R * C>& rhs) { return false; }
+template <IsReal T, Size R, Size C> inline bool operator!=(const Matrix<T, R, C>& lhs, const Vector<T, R * C>& rhs) { return true; }
+
+// matrix operations
+
+//! Transpose matrix
+template <IsReal T, Size R, Size C>
+inline
+Matrix<T, R, C> transpose(const Matrix<T, R, C>& ms)
+{
+    Matrix<T, R, C> res;
+    for (Size n = 0; n < R; ++n)
+        for (Size k = 0; k < C; ++k)
+            res(k, n) = ms(n, k);
+    return res;
+}
+
+//! Trace of a matrix
+template <IsReal T, Size R, Size C>
+inline
+T trace(const Matrix<T, R, C>& ms) requires (R == C)
+{
+    T res;
+    for (auto n = 0; n < R; ++n)
+        res += ms(n, n);
+    return res;
+}
+
+//! Minor of a matrix
+template <IsReal T, Size R, Size C>
+inline
+SubMatrix<T, R, C> minor(const Matrix<T, R, C>& ms, Size row, Size col)
+{
+    if (ms.size() < 4)
+        throw std::runtime_error("Matrix should be greater 2x2");
+
+    SubMatrix<T, R, C> minor;
+    auto minor_iter = minor.begin();
+    for (auto n = 0; n < R; ++n)
+        for (auto k = 0; k < C; ++k)
+            if (k != col && n != row)
+                *(minor_iter++) = ms[k + ms.rows() * n];
+    return minor;
+}
+
+//! Determinant of a matrix
+template <IsReal T, Size R, Size C>
+inline
+scalar det(const Matrix<T, R, C>& ms) requires (R == C)
+{
+    if (ms.size() == 1)
+        return ms[0];
+
+    else if (ms.size() == 4)
+        return ms(0, 0) * ms(1, 1) - ms(0, 1) * ms(1, 0);
+
+    else {
+        scalar res = 0;
+        for (auto n = 0; n < ms.cols(); ++n)
+            res += pow(-1, n) * ms(0, n) * det(minor(ms, 0, n));
+        return res;
+    }
+}
+
+//! Adjoint matrix
+template <IsReal T, Size R, Size C>
+inline
+Matrix<T, R, C> adj(const Matrix<T, R, C>& ms)
+{
+    Matrix<T, R, C> res;
+    for (auto n = 0; n < R; ++n)
+        for (auto k = 0; k < C; ++k)
+            res(n, k) = pow(-1, n + k) * det(minor(ms, n, k));
+    return transpose(res);
+}
+
+//! Inverse matrix
+template <IsReal T, Size R, Size C>
+inline
+Matrix<T, R, C> inv(const Matrix<T, R, C>& ms)
+{
+    return adj(ms) / det(ms);
+}
+
 // Aliases
 
 template <typename Type, size_t Row, size_t Col>
-using mat = MatrixSpace<Type, Row, Col>;
+using mat = Matrix<Type, Row, Col>;
 
-using mat2 = MatrixSpace<scalar, 2, 2>;
-using mat3 = MatrixSpace<scalar, 3, 3>;
-using mat4 = MatrixSpace<scalar, 4, 4>;
+using mat2 = Matrix<scalar, 2, 2>;
+using mat3 = Matrix<scalar, 3, 3>;
+using mat4 = Matrix<scalar, 4, 4>;
 
 }

source/hpr/math/matrix/transform.hpp

@@ -6,37 +6,37 @@
 namespace hpr
 {
 
-template <typename Type>
+template <IsReal T>
 inline
-mat<Type, 4, 4> translate(const mat<Type, 4, 4>& ms, const vec<Type, 3>& vs)
+Matrix<T, 4, 4> translate(const Matrix<T, 4, 4>& ms, const Vector<T, 3>& vs)
 {
-    mat<Type, 4, 4> res {ms};
+    Matrix<T, 4, 4> res {ms};
     res.col(3, ms.row(0) * vs[0] + ms.row(1) * vs[1] + ms.row(2) * vs[2] + ms.row(3));
 
     return res;
 }
 
-template <typename Type>
+template <IsReal T>
 inline
-vec<Type, 3> translate(const vec<Type, 3>& vs1, const vec<Type, 3>& vs2)
+Vector<T, 3> translate(const Vector<T, 3>& vs1, const Vector<T, 3>& vs2)
 {
-    mat<Type, 4, 4> res = mat<Type, 4, 4>::identity();
-    res.row(3, vec<Type, 4>(vs1, 0.));
+    Matrix<T, 4, 4> res = Matrix<T, 4, 4>::identity();
+    res.row(3, Vector<T, 4>(vs1, 0.));
     res = translate(res, vs2);
 
-    return vec<Type, 3>(res.row(3));
+    return Vector<T, 3>(res.row(3));
 }
 
-template <typename Type>
+template <IsReal T>
 inline
-mat<Type, 4, 4> rotate(const mat<Type, 4, 4>& ms, const vec<Type, 3>& vs, Type angle)
+Matrix<T, 4, 4> rotate(const Matrix<T, 4, 4>& ms, const Vector<T, 3>& vs, T angle)
 {
-    const Type cosv = cos(angle);
-    const Type sinv = sin(angle);
-    vec<Type, 3> axis {normalize(vs)};
-    vec<Type, 3> temp {(1. - cosv) * axis};
+    const T cosv = cos(angle);
+    const T sinv = sin(angle);
+    Vector<T, 3> axis {normalize(vs)};
+    Vector<T, 3> temp {(1. - cosv) * axis};
 
-    mat<Type, 4, 4> rot;
+    Matrix<T, 4, 4> rot;
     rot(0, 0) = cosv + temp[0] * axis[0];
     rot(0, 1) = temp[0] * axis[1] + sinv * axis[2];
     rot(0, 2) = temp[0] * axis[2] - sinv * axis[1];
@@ -47,7 +47,7 @@ mat<Type, 4, 4> rotate(const mat<Type, 4, 4>& ms, const vec<Type, 3>& vs, Type a
     rot(2, 1) = temp[2] * axis[1] - sinv * axis[0];
     rot(2, 2) = cosv + temp[2] * axis[2];
 
-    mat<Type, 4, 4> res {ms};
+    Matrix<T, 4, 4> res {ms};
     res.row(0, ms.row(0) * rot(0, 0) + ms.row(1) * rot(0, 1) + ms.row(2) * rot(0, 2));
     res.row(1, ms.row(0) * rot(1, 0) + ms.row(1) * rot(1, 1) + ms.row(2) * rot(1, 2));
     res.row(2, ms.row(0) * rot(2, 0) + ms.row(1) * rot(2, 1) + ms.row(2) * rot(2, 2));
@@ -56,22 +56,22 @@ mat<Type, 4, 4> rotate(const mat<Type, 4, 4>& ms, const vec<Type, 3>& vs, Type a
     return res;
 }
 
-template <typename Type>
+template <IsReal T>
 inline
-vec<Type, 3> rotate(const vec<Type, 3>& vs1, const vec<Type, 3>& vs2, Type angle)
+Vector<T, 3> rotate(const Vector<T, 3>& vs1, const Vector<T, 3>& vs2, T angle)
 {
-    mat<Type, 4, 4> res = mat<Type, 4, 4>::identity();
-    res.row(3, vec<Type, 4>(vs1, 0.));
+    Matrix<T, 4, 4> res = Matrix<T, 4, 4>::identity();
+    res.row(3, Vector<T, 4>(vs1, 0.));
     res = rotate(res, vs2, angle);
 
-    return vec<Type, 3>(res.row(3));
+    return Vector<T, 3>(res.row(3));
 }
 
-template <typename Type>
+template <IsReal T>
 inline
-mat<Type, 4, 4> scale(const mat<Type, 4, 4>& ms, const vec<Type, 3>& vs)
+Matrix<T, 4, 4> scale(const Matrix<T, 4, 4>& ms, const Vector<T, 3>& vs)
 {
-    mat<Type, 4, 4> res;
+    Matrix<T, 4, 4> res;
     res.row(0, ms.row(0) * vs[0]);
     res.row(1, ms.row(1) * vs[1]);
     res.row(2, ms.row(2) * vs[2]);
@@ -81,19 +81,19 @@ mat<Type, 4, 4> scale(const mat<Type, 4, 4>& ms, const vec<Type, 3>& vs)
 }
 
 
-template <typename Type>
+template <typename T>
 inline
-mat<Type, 4, 4> lookAt(const mat<Type, 4, 4>& ms, const vec<Type, 3>& eye, const vec<Type, 3>& center, const vec<Type, 3>& up)
+Matrix<T, 4, 4> lookAt(const Matrix<T, 4, 4>& ms, const Vector<T, 3>& eye, const Vector<T, 3>& center, const Vector<T, 3>& up)
 {
-    const vec<Type, 3> forward {normalize(center - eye)};
-    const vec<Type, 3> left {normalize(cross(up, forward))};
-    const vec<Type, 3> nup {cross(forward, left)};
+    const Vector<T, 3> forward {normalize(center - eye)};
+    const Vector<T, 3> left {normalize(cross(up, forward))};
+    const Vector<T, 3> nup {cross(forward, left)};
 
-    mat<Type, 4, 4> res;
-    res.col(0, vec<Type, 4>(left, 0));
-    res.col(1, vec<Type, 4>(nup, 0));
-    res.col(2, vec<Type, 4>(forward, 0));
-    res.row(3, -vec<Type, 4>(dot(left, eye), dot(nup, eye), dot(forward, eye), -1.));
+    Matrix<T, 4, 4> res;
+    res.col(0, Vector<T, 4>(left, 0));
+    res.col(1, Vector<T, 4>(nup, 0));
+    res.col(2, Vector<T, 4>(forward, 0));
+    res.row(3, -Vector<T, 4>(dot(left, eye), dot(nup, eye), dot(forward, eye), -1.));
 
     return res;
 }

source/hpr/math/quaternion.hpp

@@ -0,0 +1,3 @@
+#pragma once
+
+#include "quaternion/quaternion.hpp"

source/hpr/math/quaternion/quaternion.hpp

@@ -0,0 +1,259 @@
+#pragma once
+
+#include "../vector.hpp"
+
+
+namespace hpr
+{
+
+// Forward declaration
+
+class Quaternion;
+
+inline
+Quaternion inverse(const Quaternion& q);
+
+inline
+Quaternion operator*(const Quaternion& lhs, const Quaternion& rhs);
+
+// Class declaration
+class Quaternion
+{
+
+public:
+
+    enum RotationSequence
+    {
+        ZYX, ZYZ, ZXY, ZXZ, YXZ, YXY, YZX, YZY, XYZ, XYX, XZY, XZX
+    };
+
+protected:
+
+    scalar p_real;
+    vec3 p_imag;
+
+public:
+
+    inline
+    Quaternion() :
+        p_real{},
+        p_imag{}
+    {}
+
+    inline
+    Quaternion(const scalar real, const vec3& imag) :
+        p_real {real},
+        p_imag {imag}
+    {}
+
+    inline explicit
+    Quaternion(const scalar real) :
+        p_real {real},
+        p_imag {}
+    {}
+
+    inline explicit
+    Quaternion(const vec3& imag) :
+        p_real {},
+        p_imag {imag}
+    {}
+
+    inline
+    Quaternion(const vec3& vs, const scalar& theta) :
+        p_real {cos(0.5 * theta)},
+        p_imag {sin(0.5 * theta) * vs / mag(vs)}
+    {}
+
+    static inline
+    Quaternion unit(const vec3& vs)
+    {
+        return Quaternion(sqrt(1 - norm(vs)), vs);
+    }
+
+    inline
+    Quaternion(const RotationSequence rs, const vec3& angles)
+    {
+        switch (rs)
+        {
+            case XYZ:
+                *this = Quaternion(vec3(0, 1, 0), angles[0]) *
+                        Quaternion(vec3(0, 1, 0), angles[1]) *
+                        Quaternion(vec3(0, 0, 1), angles[2]);
+                break;
+
+            default:
+                throw std::runtime_error("Unknown rotation sequence");
+        }
+    }
+
+    inline
+    scalar real() const
+    {
+        return p_real;
+    }
+
+    inline
+    scalar& real()
+    {
+        return p_real;
+    }
+
+    inline
+    vec3 imag() const
+    {
+        return p_imag;
+    }
+
+    inline
+    vec3& imag()
+    {
+        return p_imag;
+    }
+
+    inline
+    void operator+=(const Quaternion& q)
+    {
+        p_real += q.p_real;
+        p_imag += q.p_imag;
+    }
+
+    inline
+    void operator-=(const Quaternion& q)
+    {
+        p_real -= q.p_real;
+        p_imag -= q.p_imag;
+    }
+
+    inline
+    void operator*=(const Quaternion& q)
+    {
+        scalar temp = p_real;
+        p_real = p_real * q.p_real - dot(p_imag, q.p_imag);
+        p_imag = temp * q.p_imag + q.p_real * p_imag + cross(p_imag, q.p_imag);
+    }
+
+    inline
+    void operator/=(const Quaternion& q)
+    {
+        operator*=(inverse(q));
+    }
+
+    inline
+    void operator*=(const scalar s)
+    {
+        p_real *= s;
+        p_imag *= s;
+    }
+
+    inline
+    void operator/=(const scalar s)
+    {
+        p_real /= s;
+        p_imag /= s;
+    }
+};
+
+inline
+bool equal(const Quaternion& lhs, const Quaternion& rhs)
+{
+    return lhs.real() == rhs.real() && lhs.imag() == rhs.imag();
+}
+
+inline
+bool operator==(const Quaternion& lhs, const Quaternion& rhs)
+{
+    return equal(lhs, rhs);
+}
+
+inline
+bool operator!=(const Quaternion& lhs, const Quaternion& rhs)
+{
+    return !equal(lhs, rhs);
+}
+
+inline
+Quaternion operator+(const Quaternion& lhs, const Quaternion& rhs)
+{
+    return {lhs.real() + rhs.real(), lhs.imag() + rhs.imag()};
+}
+
+inline
+Quaternion operator-(const Quaternion& q)
+{
+    return {q.real(), q.imag()};
+}
+
+inline
+Quaternion operator-(const Quaternion& lhs, const Quaternion& rhs)
+{
+    return {lhs.real() - rhs.real(), lhs.imag() - rhs.imag()};
+}
+
+inline
+Quaternion operator*(const Quaternion& lhs, const Quaternion& rhs)
+{
+    return {lhs.real() * rhs.real() - dot(lhs.imag(), rhs.imag()),
+        lhs.real() * rhs.imag() + rhs.real() * lhs.imag() + cross(lhs.imag(), rhs.imag())};
+}
+
+inline
+Quaternion operator/(const Quaternion& lhs, const Quaternion& rhs)
+{
+    return lhs * inverse(rhs);
+}
+
+inline
+Quaternion operator*(const scalar s, const Quaternion& q)
+{
+    return {s * q.real(), s * q.imag()};
+}
+
+inline
+Quaternion operator*(const Quaternion& q, const scalar s)
+{
+    return {q.real() * s, q.imag() * s};
+}
+
+inline
+Quaternion operator/(const Quaternion& q, const scalar s)
+{
+    return {q.real() / s, q.imag() / s};
+}
+
+inline
+scalar norm(const Quaternion& q)
+{
+    return sqrt(pow(q.real(), 2) + dot(q.imag(), q.imag()));
+}
+
+inline
+Quaternion conjugate(const Quaternion& q)
+{
+    return {q.real(), -q.imag()};
+}
+
+inline
+Quaternion inverse(const Quaternion& q)
+{
+    return conjugate(q) / pow(norm(q), 2);
+}
+
+inline
+Quaternion normalize(const Quaternion& q)
+{
+    return q / norm(q);
+}
+
+inline
+vec3 rotate(const vec3& point, const vec3& axis, const scalar& angle)
+{
+    Quaternion p {point};
+    Quaternion q {normalize(axis), angle};
+    return (q * p * inverse(q)).imag();
+}
+
+// Aliases
+
+using quat = Quaternion;
+
+}

source/hpr/math/scalar/scalar.hpp

@@ -3,93 +3,306 @@
 #include <cmath>
 #include <limits>
 
+namespace hpr
+{
+
+// type traits
+
+template <typename Type>
+struct is_scalar : public std::is_floating_point<Type> {};
+
+// concepts
+
+template <typename Type>
+concept IsScalar = is_scalar<Type>::value;
+
+template <typename Type>
+concept IsReal = is_integer<Type>::value || is_scalar<Type>::value;
+
+// forward declaration
+
+template <IsScalar T>
+class Scalar;
+
+}
+
+namespace std
+{
+    template <class T> struct is_floating_point<hpr::Scalar<T>> : true_type {};
+}
 
 namespace hpr
 {
-#define PRECISION_DOUBLE
 
-#if defined(PRECISION_FLOAT)
+// class declaration
 
-using scalar = float;
+template <IsScalar T>
+class Scalar
+{
 
-#elif defined(PRECISION_DOUBLE)
+public:
 
-using scalar = double;
+    using type = Scalar<T>;
+    using value_type = T;
 
-#elif defined(PRECISION_LONGDOUBLE)
+protected:
 
-using scalar = long double;
+    value_type p_value;
 
+public:
+
+    // constructors
+
+    constexpr Scalar() : p_value {} {}
+
+    template <IsScalar X> constexpr Scalar(const Scalar<X>& value) : p_value {static_cast<value_type>(value.p_value)} {}
+
+    template <IsReal X> constexpr Scalar(const X& value) : p_value {static_cast<value_type>(value)} {}
+
+    template <IsScalar X> constexpr type& operator=(const Scalar<X>& value) { p_value = static_cast<value_type>(value.p_value); return *this; }
+
+    template <IsReal X> constexpr type& operator=(const X& value) { p_value = static_cast<value_type>(value); return *this; }
+
+    virtual constexpr ~Scalar() = default;
+
+    // conversion
+
+    constexpr operator double() const { return static_cast<double>(p_value); }
+
+    constexpr operator float() const { return static_cast<float>(p_value); }
+
+    constexpr operator long double() const { return static_cast<long double>(p_value); }
+
+    constexpr operator bool() const { return static_cast<bool>(p_value); }
+
+    // access
+
+    [[nodiscard]] constexpr value_type value() const { return p_value; }
+
+    constexpr value_type& value() { return p_value; }
+
+    // properties
+
+protected:
+
+    static value_type s_precision;
+
+public:
+
+    static constexpr Scalar<T> precision() { return s_precision; }
+
+    static constexpr void precision(const value_type& precision) { s_precision = precision; }
+
+    static constexpr Scalar<T> inf() { return std::numeric_limits<value_type>::infinity(); }
+
+    static constexpr Scalar<T> epsilon() { return std::numeric_limits<value_type>::epsilon(); }
+};
+
+// specialization type
+
+#if defined(HPR_SCALAR_LONGDOUBLE)
+    using scalar = Scalar<long double>;
+#elif defined(HPR_SCALAR_DOUBLE)
+    using scalar = Scalar<double>;
+#elif defined(HPR_SCALAR_FLOAT)
+    using scalar = Scalar<float>;
 #else
-
-using scalar = float;
-
+    using scalar = Scalar<double>;
 #endif
 
-static
-const scalar small = std::numeric_limits<scalar>::epsilon();
-static
-const scalar great = static_cast<scalar>(1.0) / small;
-static
-const scalar valueSmall = std::numeric_limits<scalar>::min();
-static
-const scalar valueGreat = std::numeric_limits<scalar>::max() * 0.1;
-static
-const scalar NaN = std::numeric_limits<scalar>::signaling_NaN();
+//
 
+template<> scalar::value_type scalar::s_precision = static_cast<scalar::value_type>(1e-15);
 
+// global operators
 
-//- Return 1 if s is positive or 0 otherwise -1
-inline
-int sign(const scalar s)
+/// scalar vs scalar
+
+constexpr scalar operator+(const scalar& s) { return s; }
+constexpr scalar operator-(const scalar& s) { return -s.value(); }
+constexpr bool operator!(const scalar& s) { return !static_cast<bool>(s.value()); }
+
+constexpr scalar& operator+=(scalar& lhs, const scalar& rhs) { lhs.value() += static_cast<scalar::value_type>(rhs.value()); return lhs; }
+constexpr scalar& operator-=(scalar& lhs, const scalar& rhs) { lhs.value() -= static_cast<scalar::value_type>(rhs.value()); return lhs; }
+constexpr scalar& operator*=(scalar& lhs, const scalar& rhs) { lhs.value() *= static_cast<scalar::value_type>(rhs.value()); return lhs; }
+constexpr scalar& operator/=(scalar& lhs, const scalar& rhs) { lhs.value() /= static_cast<scalar::value_type>(rhs.value()); return lhs; }
+
+constexpr scalar operator+(const scalar& lhs, const scalar& rhs) { return lhs.value() + rhs.value(); }
+constexpr scalar operator-(const scalar& lhs, const scalar& rhs) { return lhs.value() - rhs.value(); }
+constexpr scalar operator*(const scalar& lhs, const scalar& rhs) { return lhs.value() * rhs.value(); }
+constexpr scalar operator/(const scalar& lhs, const scalar& rhs) { return lhs.value() / rhs.value(); }
+
+constexpr bool operator==(const scalar& lhs, const scalar& rhs) { return lhs.value() == rhs.value(); }
+constexpr bool operator!=(const scalar& lhs, const scalar& rhs) { return lhs.value() != rhs.value(); }
+constexpr bool operator&&(const scalar& lhs, const scalar& rhs) { return static_cast<bool>(lhs) && static_cast<bool>(rhs); }
+constexpr bool operator||(const scalar& lhs, const scalar& rhs) { return static_cast<bool>(lhs) || static_cast<bool>(rhs); }
+constexpr bool operator>(const scalar& lhs, const scalar& rhs) { return lhs.value() > rhs.value(); }
+constexpr bool operator<(const scalar& lhs, const scalar& rhs) { return lhs.value() < rhs.value(); }
+constexpr bool operator>=(const scalar& lhs, const scalar& rhs) { return lhs.value() >= rhs.value(); }
+constexpr bool operator<=(const scalar& lhs, const scalar& rhs) { return lhs.value() <= rhs.value(); }
+
+/// scalar vs Scalar<T>
+
+template <IsScalar T> constexpr scalar& operator+=(scalar& lhs, const Scalar<T>& rhs) { lhs.value() += static_cast<scalar::value_type>(rhs.value()); return lhs; }
+template <IsScalar T> constexpr scalar& operator-=(scalar& lhs, const Scalar<T>& rhs) { lhs.value() -= static_cast<scalar::value_type>(rhs.value()); return lhs; }
+template <IsScalar T> constexpr scalar& operator*=(scalar& lhs, const Scalar<T>& rhs) { lhs.value() *= static_cast<scalar::value_type>(rhs.value()); return lhs; }
+template <IsScalar T> constexpr scalar& operator/=(scalar& lhs, const Scalar<T>& rhs) { lhs.value() /= static_cast<scalar::value_type>(rhs.value()); return lhs; }
+
+template <IsScalar T> constexpr scalar operator+(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() + static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr scalar operator+(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) + rhs.value(); }
+template <IsScalar T> constexpr scalar operator-(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() - static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr scalar operator-(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) - rhs.value(); }
+template <IsScalar T> constexpr scalar operator*(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() * static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr scalar operator*(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) * rhs.value(); }
+template <IsScalar T> constexpr scalar operator/(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() / static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr scalar operator/(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) / rhs.value(); }
+
+template <IsScalar T> constexpr bool operator==(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() == static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr bool operator==(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) == rhs.value(); }
+template <IsScalar T> constexpr bool operator!=(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() != static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr bool operator!=(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) != rhs.value(); }
+template <IsScalar T> constexpr bool operator&&(const scalar& lhs, const Scalar<T>& rhs) { return static_cast<bool>(lhs) && static_cast<bool>(rhs); }
+template <IsScalar T> constexpr bool operator&&(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<bool>(lhs) && static_cast<bool>(rhs); }
+template <IsScalar T> constexpr bool operator||(const scalar& lhs, const Scalar<T>& rhs) { return static_cast<bool>(lhs) || static_cast<bool>(rhs); }
+template <IsScalar T> constexpr bool operator||(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<bool>(lhs) || static_cast<bool>(rhs); }
+template <IsScalar T> constexpr bool operator>(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() > static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr bool operator>(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) > rhs.value(); }
+template <IsScalar T> constexpr bool operator<(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() < static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr bool operator<(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) < rhs.value(); }
+template <IsScalar T> constexpr bool operator>=(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() >= static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr bool operator>=(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) >= rhs.value(); }
+template <IsScalar T> constexpr bool operator<=(const scalar& lhs, const Scalar<T>& rhs) { return lhs.value() <= static_cast<scalar::value_type>(rhs.value()); }
+template <IsScalar T> constexpr bool operator<=(const Scalar<T>& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs.value()) <= rhs.value(); }
+
+template <IsScalar T> std::ostream& operator<<(std::ostream& stream, const Scalar<T>& s) { return stream << s.value(); }
+template <IsScalar T> std::istream& operator>>(std::istream& stream, Scalar<T>& s) { return stream >> s.value(); }
+
+/// scalar vs real
+
+template <IsReal T> constexpr scalar& operator+=(scalar& lhs, const T& rhs) { lhs.value() += static_cast<scalar::value_type>(rhs); return lhs; }
+template <IsReal T> constexpr scalar& operator-=(scalar& lhs, const T& rhs) { lhs.value() -= static_cast<scalar::value_type>(rhs); return lhs; }
+template <IsReal T> constexpr scalar& operator*=(scalar& lhs, const T& rhs) { lhs.value() *= static_cast<scalar::value_type>(rhs); return lhs; }
+template <IsReal T> constexpr scalar& operator/=(scalar& lhs, const T& rhs) { lhs.value() /= static_cast<scalar::value_type>(rhs); return lhs; }
+
+template <IsReal T> constexpr T& operator+=(T& lhs, const scalar& rhs) { lhs += static_cast<T>(rhs); return lhs; }
+template <IsReal T> constexpr T& operator-=(T& lhs, const scalar& rhs) { lhs -= static_cast<T>(rhs); return lhs; }
+template <IsReal T> constexpr T& operator*=(T& lhs, const scalar& rhs) { lhs *= static_cast<T>(rhs); return lhs; }
+template <IsReal T> constexpr T& operator/=(T& lhs, const scalar& rhs) { lhs /= static_cast<T>(rhs); return lhs; }
+
+template <IsReal T> constexpr scalar operator+(const scalar& lhs, const T& rhs) { return lhs.value() + static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr scalar operator+(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) + rhs.value(); }
+template <IsReal T> constexpr scalar operator-(const scalar& lhs, const T& rhs) { return lhs.value() - static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr scalar operator-(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) - rhs.value(); }
+template <IsReal T> constexpr scalar operator*(const scalar& lhs, const T& rhs) { return lhs.value() * static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr scalar operator*(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) * rhs.value(); }
+template <IsReal T> constexpr scalar operator/(const scalar& lhs, const T& rhs) { return lhs.value() / static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr scalar operator/(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) / rhs.value(); }
+
+template <IsReal T> constexpr bool operator==(const scalar& lhs, const T& rhs) { return lhs.value() == static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr bool operator==(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) == rhs.value(); }
+template <IsReal T> constexpr bool operator!=(const scalar& lhs, const T& rhs) { return lhs.value() != static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr bool operator!=(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) != rhs.value(); }
+template <IsReal T> constexpr bool operator&&(const scalar& lhs, const T& rhs) { return static_cast<bool>(lhs) && static_cast<bool>(rhs); }
+template <IsReal T> constexpr bool operator&&(const T& lhs, const scalar& rhs) { return static_cast<bool>(lhs) && static_cast<bool>(rhs); }
+template <IsReal T> constexpr bool operator||(const scalar& lhs, const T& rhs) { return static_cast<bool>(lhs) || static_cast<bool>(rhs); }
+template <IsReal T> constexpr bool operator||(const T& lhs, const scalar& rhs) { return static_cast<bool>(lhs) || static_cast<bool>(rhs); }
+template <IsReal T> constexpr bool operator>(const scalar& lhs, const T& rhs) { return lhs.value() > static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr bool operator>(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) > rhs.value(); }
+template <IsReal T> constexpr bool operator<(const scalar& lhs, const T& rhs) { return lhs.value() < static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr bool operator<(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) < rhs.value(); }
+template <IsReal T> constexpr bool operator>=(const scalar& lhs, const T& rhs) { return lhs.value() >= static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr bool operator>=(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) >= rhs.value(); }
+template <IsReal T> constexpr bool operator<=(const scalar& lhs, const T& rhs) { return lhs.value() <= static_cast<scalar::value_type>(rhs); }
+template <IsReal T> constexpr bool operator<=(const T& lhs, const scalar& rhs) { return static_cast<scalar::value_type>(lhs) <= rhs.value(); }
+
+// transcendentals
+
+template <IsReal T> constexpr scalar cos(const T& s) { return std::cos(static_cast<scalar::value_type>(s));}
+
+template <IsReal T> constexpr scalar acos(const T& s) { return std::acos(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar cosh(const T& s) { return std::cosh(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar acosh(const T& s) { return std::acosh(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar sin(const T& s) { return std::sin(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar asin(const T& s) { return std::asin(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar sinh(const T& s) { return std::sinh(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar asinh(const T& s) { return std::asinh(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar tan(const T& s) { return std::tan(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar atan(const T& s) { return std::atan(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar tanh(const T& s) { return std::tanh(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar atanh(const T& s) { return std::atanh(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar exp(const T& s) { return std::exp(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar log(const T& s) { return std::log(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar log10(const T& s) { return std::log10(scalar(s).value()); }
+
+template <IsReal T, IsReal X> constexpr scalar pow(const T& s, const X& d) { return std::pow(scalar(s).value(), scalar(d).value()); }
+
+template <IsReal T> constexpr scalar sqrt(const T& s) { return std::sqrt(scalar(s).value()); }
+
+template <IsReal T> constexpr scalar isqrt(const T& s) { return static_cast<T>(1) / sqrt(scalar(s).value()); }
+
+// constants
+
+constexpr inline scalar pi() { return std::numbers::pi_v<scalar::value_type>; }
+
+constexpr inline scalar e() { return std::numbers::e_v<scalar::value_type>; }
+
+// etc
+
+constexpr scalar abs(const scalar& s) { return std::abs(s.value()); }
+
+constexpr scalar mag(const scalar& s) { return std::abs(s.value()); }
+
+constexpr bool equal(const scalar& lhs, const scalar& rhs, const scalar& precision = scalar::precision()) { return abs(lhs - rhs) < precision; }
+
+//! Convert degrees to radians
+constexpr scalar rad(const scalar& s) { return s * pi() / static_cast<scalar::value_type>(180); }
+
+//! Convert radians to degrees
+constexpr scalar deg(const scalar& s) { return s * static_cast<scalar::value_type>(180) / pi(); }
+
+constexpr scalar min(const scalar& s1, const scalar& s2) { return std::min(s1.value(),s2.value());}
+
+constexpr scalar max(const scalar& s1, const scalar& s2) { return std::max(s1.value(), s2.value()); }
+
+constexpr scalar clip(const scalar& s, const scalar& sMin, const scalar& sMax) { return min(sMax, max(s, sMin)); }
+
+}
+
+/*namespace std
 {
-    return (s >= 0) ? 1: -1;
-}
+    // compatibility with std
 
-inline
-scalar mag(const scalar s)
-{
-    return std::fabs(s);
-}
-
-template <typename Type>
-inline
-bool equal(Type lhs, Type rhs, Type precision = 1e-5)
-{
-    return mag(lhs - rhs) < precision;
-}
-
-inline
-scalar clip(scalar value, scalar valueMin, scalar valueMax)
-{
-    return std::min(valueMax, std::max(value, valueMin));
-}
-
-template <typename Type>
-Type inversesqrt( Type n )
-{
-    return static_cast<Type>(1) / sqrt(n);
-}
-
-// trigonometric
-
-static
-const scalar PI = static_cast<scalar>(M_PIl);
-
-template <typename Type>
-inline
-Type radians(Type degrees)
-{
-    static_assert(std::numeric_limits<Type>::is_iec559);
-    return degrees * PI / static_cast<Type>(180);
-}
-
-template <typename Type>
-inline
-Type degrees(Type radians)
-{
-    static_assert(std::numeric_limits<Type>::is_iec559);
-    return radians * static_cast<Type>(180) / PI;
-}
-
-}
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> cos(const hpr::Scalar<T>& s) { return hpr::cos(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> acos(const hpr::Scalar<T>& s) { return hpr::acos(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> cosh(const hpr::Scalar<T>& s) { return hpr::cosh(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> acosh(const hpr::Scalar<T>& s) { return hpr::acosh(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> sin(const hpr::Scalar<T>& s) { return hpr::sin(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> asin(const hpr::Scalar<T>& s) { return hpr::asin(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> sinh(const hpr::Scalar<T>& s) { return hpr::sinh(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> asinh(const hpr::Scalar<T>& s) { return hpr::asinh(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> tan(const hpr::Scalar<T>& s) { return hpr::tan(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> atan(const hpr::Scalar<T>& s) { return hpr::atan(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> tanh(const hpr::Scalar<T>& s) { return hpr::tanh(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> atanh(const hpr::Scalar<T>& s) { return hpr::atanh(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> exp(const hpr::Scalar<T>& s) { return hpr::exp(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> log(const hpr::Scalar<T>& s) { return hpr::log(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> log10(const hpr::Scalar<T>& s) { return hpr::log10(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> sqrt(const hpr::Scalar<T>& s) { return hpr::sqrt(s); }
+    template <hpr::IsScalar T> constexpr hpr::Scalar<T> abs(const hpr::Scalar<T>& s) { return hpr::abs(s); }
+    template <hpr::IsScalar T, hpr::IsScalar X> constexpr hpr::Scalar<T> pow(const hpr::Scalar<T>& s, const hpr::Scalar<X>& d) { return hpr::pow(s, d); }
+    template <hpr::IsScalar T, hpr::IsReal X> constexpr hpr::Scalar<T> pow(const hpr::Scalar<T>& s, const X& d) { return hpr::pow(s, d); }
+    template <hpr::IsReal T, hpr::IsScalar X> constexpr hpr::Scalar<T> pow(const T& s, const hpr::Scalar<X>& d) { return hpr::pow(s, d); }
+}*/

source/hpr/math/tests/math-test.cpp

@@ -2,14 +2,46 @@
 
 #include "../vector.hpp"
 #include "../matrix.hpp"
+#include "../quaternion.hpp"
+#include <complex>
 
+TEST(math, Scalar)
+{
+    EXPECT_EQ(hpr::scalar(5) + hpr::scalar(7), hpr::scalar(12));
+    EXPECT_TRUE(std::is_floating_point_v<hpr::Scalar<double>>);
+    EXPECT_TRUE(std::is_arithmetic_v<hpr::Scalar<double>>);
+    EXPECT_EQ(5.f, hpr::Scalar<double>(5));
+    EXPECT_EQ(hpr::rad(180), hpr::pi());
+    EXPECT_EQ(hpr::deg(hpr::pi()), 180);
+    EXPECT_EQ(hpr::cos(0), 1);
+    EXPECT_EQ(hpr::sin(0), 0);
+    EXPECT_EQ(hpr::abs(hpr::scalar(-1)), 1);
+    EXPECT_EQ(hpr::pow(2, 2), 4);
+
+    EXPECT_TRUE(typeid(static_cast<float>(hpr::scalar(5))) == typeid(float));
+    EXPECT_FALSE(!hpr::scalar(-1.));
+
+    std::stringstream oss;
+    oss << hpr::cos(0);
+    EXPECT_EQ(oss.str(), "1");
+    hpr::scalar s;
+    oss >> s;
+    EXPECT_EQ(s, 1);
+
+    EXPECT_TRUE(hpr::equal(5.5453535353535395818593, 5.5453535353535395817592, 1e-18));
+    EXPECT_EQ(hpr::min(7., 5), 5);
+    EXPECT_EQ(hpr::max(7., 5), 7);
+    EXPECT_EQ(hpr::clip(7., 5, 10), 7);
+    EXPECT_EQ(hpr::clip(1., 5, 10), 5);
+    EXPECT_EQ(hpr::clip(72., 5, 10), 10);
+}
 
 TEST(math, Vector)
 {
     hpr::vec3 v1 {1, 3, 2};
     hpr::vec3 v2 {5, 7, -1};
     hpr::vec2 v31 {13, -2};
-    hpr::vec3 v32 {v31, 9};
+    hpr::vec3 v32 (v31, 9);
     EXPECT_EQ((hpr::vec3(v2.begin(), v2.end())), v2);
     EXPECT_EQ(v32, hpr::vec3(13, -2, 9));
     EXPECT_EQ(-v1, hpr::vec3(-1, -3, -2));
@@ -17,7 +49,7 @@ TEST(math, Vector)
     EXPECT_EQ(v1 - v2, hpr::vec3(-4, -4, 3));
     EXPECT_EQ((hpr::dot(v1, v2) ), 24);
     EXPECT_EQ((hpr::cross(hpr::vec3(1, 0, 0), hpr::vec3(0, 1, 0))), hpr::vec3(0, 0, 1));
-    EXPECT_EQ((hpr::angle(hpr::vec3(1, 0, 0), hpr::vec3(0, 0, 1))), hpr::PI * 0.5);
+    EXPECT_EQ((hpr::angle(hpr::vec3(1, 0, 0), hpr::vec3(0, 0, 1))), hpr::pi() * 0.5);
     EXPECT_EQ((hpr::normalize(hpr::vec3(1, 1, 1))), hpr::vec3(0.5773502691896258, 0.5773502691896258, 0.5773502691896258));
 }
 
@@ -26,6 +58,7 @@ TEST(math, Matrix)
     hpr::mat2 m1;
     hpr::vec4 v1;
     EXPECT_FALSE(v1 == m1);
+    EXPECT_FALSE(m1 == v1);
     hpr::mat2 m2 {3, 2, 7, 4};
     hpr::vec2 v2 {2, 4};
     EXPECT_EQ(m2.col(1), v2);
@@ -34,14 +67,24 @@ TEST(math, Matrix)
     EXPECT_EQ(m2.col(1), v3);
     hpr::mat3 m4 {1, 2, 3, 4, 5, 6, 7, 8, 9};
     hpr::mat2 m41 {5, 6, 8, 9};
-    EXPECT_EQ(m41.minor(0, 0), 9);
+    //EXPECT_EQ(minor(m41, 0, 0), 9);
     hpr::mat2 m5 {1, 2, 3, 4};
 
-    EXPECT_EQ((m4.det()), 0);
-    EXPECT_EQ(hpr::mat3(-9, 23, 3, 5, 5, 6, 7, -3, 9).det(), -786);
+    EXPECT_EQ(det(m4), 0);
+    EXPECT_EQ(hpr::det(m4), 0);
+    EXPECT_EQ(det(hpr::mat3(-9, 23, 3, 5, 5, 6, 7, -3, 9)), -786);
 
     hpr::mat2 m6 {2, 1, 7, 4};
-    EXPECT_EQ(m6.inv(), hpr::mat2(4, -1, -7, 2));
-    EXPECT_EQ(hpr::mat3(1, 0, 0, 0, 1, 0, 0, 0, 1).det(), 1.);
+    EXPECT_EQ(det(m6), 1);
+    EXPECT_EQ(adj(m6), hpr::mat2(4, -1, -7, 2));
+    EXPECT_EQ(inv(m6), hpr::mat2(4, -1, -7, 2));
+    EXPECT_EQ(det(hpr::mat3(1, 0, 0, 0, 1, 0, 0, 0, 1)), 1.);
     //EXPECT_EQ(m4.det(), 0);
 }
+
+TEST(math, Quaternion)
+{
+    hpr::quat q;
+    hpr::vec3 np = hpr::rotate(hpr::vec3(0, 1, 0), {1, 0, 0}, hpr::pi() * 0.5);
+    EXPECT_TRUE(hpr::all(hpr::equal(np, hpr::vec3(0, 0, 1))));
+}

source/hpr/math/vector/vector_space.hpp

@@ -1,5 +1,6 @@
 #pragma once
 
+#include "../integer.hpp"
 #include "../scalar.hpp"
 #include "../../containers/array/static_array.hpp"
 
@@ -7,18 +8,42 @@
 namespace hpr
 {
 
-template <typename Type, size_t Size>
-class VectorSpace : public StaticArray<Type, Size>
+// forward declarations
+
+template <IsReal T, Size S> requires (S >= 0)
+class Vector;
+
+template <IsReal T, Size S>
+using SubVector = typename std::conditional<S >= 2, Vector<T, S - 1>, Vector<T, 1>>::type;
+
+// type traits
+
+template <typename T>
+struct is_vector : public std::false_type {};
+
+template <typename T, Size S>
+struct is_vector<Vector<T, S>> : public std::true_type {};
+
+// concepts
+
+template <typename T>
+concept IsVector = is_vector<T>::value;
+
+}
+
+namespace hpr
 {
-    static_assert(std::is_arithmetic<Type>::value, "Type must be numeric");
 
-    using base = StaticArray<Type, Size>;
+template <IsReal Type, Size S> requires (S >= 0)
+class Vector : public StaticArray<Type, S>
+{
+
+    using base = StaticArray<Type, S>;
 
-    using SubVector = typename std::conditional<Size >= 2, VectorSpace<Type, Size - 1>, VectorSpace<Type, 1>>::type;
 public:
 
     using value_type = Type;
-    using size_type = size_t;
+    using size_type = Size;
     using pointer = Type*;
     using reference = Type&;
     using iterator = Iterator<Type>;
@@ -26,361 +51,156 @@ public:
 
 public:
 
-    inline
-    VectorSpace() :
+    //! null constructor
+    constexpr
+    Vector() :
         base {}
     {}
 
-    inline
-    VectorSpace(const VectorSpace& vs) :
+    //! copy constructor
+    constexpr
+    Vector(const Vector& vs) :
         base {static_cast<base>(vs)}
     {}
 
-    inline
-    VectorSpace(VectorSpace&& vs) noexcept :
+    //! move constructor
+    constexpr
+    Vector(Vector&& vs) noexcept :
         base {std::forward<base>(static_cast<base>(vs))}
     {}
 
-    inline
-    VectorSpace& operator=(const VectorSpace& vs)
+    //! copy assignment operator
+    constexpr
+    Vector& operator=(const Vector& vs)
     {
         base::operator=(vs);
         return *this;
     }
 
-    inline
-    VectorSpace& operator=(VectorSpace&& vs) noexcept
+    //! move assignment operator
+    constexpr
+    Vector& operator=(Vector&& vs) noexcept
     {
-        swap(*this, vs);//std::forward<base>(static_cast<base>(*this)), std::forward<base>(static_cast<base>(vs)));
-        //std::swap(*this, vs);
+        swap(*this, vs);
         return *this;
     }
 
+    //! destructor
     virtual
-    ~VectorSpace() = default;
+    ~Vector() = default;
 
-    inline
-    VectorSpace(typename base::iterator start, typename base::iterator end) :
+    //! copy constructor from base
+    constexpr
+    Vector(const base& arr) :
+        base {arr}
+    {}
+
+    //! move constructor from base
+    constexpr
+    Vector(base&& arr) :
+        base {std::forward<base>(arr)}
+    {}
+
+    //! construct from iterators
+    constexpr
+    Vector(typename base::iterator start, typename base::iterator end) :
         base {start, end}
     {}
 
-    inline
-    VectorSpace(typename base::const_iterator start, typename base::const_iterator end) :
+    //! construct from constant iterators
+    constexpr
+    Vector(typename base::const_iterator start, typename base::const_iterator end) :
         base {start, end}
     {}
 
-    inline
-    VectorSpace(std::initializer_list<value_type> list) :
+    //! construct from initializer list
+    constexpr
+    Vector(std::initializer_list<value_type> list) :
         base {list}
     {}
 
-    template <std::convertible_to<value_type>... Args>
-    inline
-    VectorSpace(const value_type& v, const Args& ...args) :
+    //! copy constructor with variadic args
+    template <IsReal... Args>
+    constexpr
+    Vector(const value_type& v, const Args& ...args) requires (S == 1 + sizeof...(args)):
         base {v, static_cast<value_type>(args)...}
-    {
-        static_assert(1 + sizeof...(args) == Size, "Number of arguments must be equal to size of vector");
-    }
+    {}
 
-    template <std::convertible_to<value_type>... Args>
-    inline
-    VectorSpace(value_type&& v, Args&& ...args) :
+    //! move constructor with variadic args
+    template <IsReal... Args>
+    constexpr
+    Vector(value_type&& v, Args&& ...args) requires (S == 1 + sizeof...(args)):
         base {v, static_cast<value_type>(std::forward<Args>(args))...}
-    {
-        static_assert(1 + sizeof...(args) == Size, "Number of arguments must be equal to size of vector");
-    }
+    {}
 
-    /*template <size_type SubSize, std::convertible_to<value_type>... Args>
-    inline
-    VectorSpace(const VectorSpace<value_type, SubSize>& subvec, const value_type& v, const Args& ...args) :
-        base {static_cast<StaticArray<value_type, SubSize>>(subvec), v,
-              static_cast<value_type>(std::forward<Args>(args))...}
-    {}*/
-
-    inline
-    VectorSpace(const SubVector& subvs, const value_type& v) :
+    //! copy constructor with sub vector and value
+    constexpr
+    Vector(const SubVector<Type, S>& svs, const value_type& v) requires (S >= 1):
         base {}
     {
-        for (auto n = 0; n < subvs.size(); ++n)
-            (*this)[n] = subvs[n];
-        (*this)[subvs.size()] = v;
-    }
-
-    template <size_type BiggerSize>
-    inline
-    VectorSpace(const VectorSpace<Type, BiggerSize>& vs) :
-        base {vs.begin(), vs.begin() + Size}
-    {
-        static_assert(BiggerSize > Size, "Size should be bigger");
-    }
-
-    // Member functions
-
-    // vector versus scalar (per element operations)
-
-    friend inline
-    VectorSpace operator-(const VectorSpace& rhs)
-    {
-        VectorSpace vs {rhs};
-        for (value_type& v : vs)
-            v = -v;
-        return vs;
-    }
-
-    inline
-    void operator*=(const value_type& val)
-    {
-        //for (value_type& v : *this)
-        //    v *= val;
-        for (auto n = 0; n < Size; ++n)
-            (*this)[n] *= val;
-    }
-
-    inline
-    void operator+=(const value_type& val)
-    {
-        for (auto n = 0; n < Size; ++n)
-            (*this)[n] += val;
-    }
-
-    inline
-    void operator-=(const value_type& val)
-    {
-        //for (value_type& v : *this)
-        //    v -= val;
-        for (auto n = 0; n < Size; ++n)
-            (*this)[n] -= val;
-    }
-
-    inline
-    void operator/=(const value_type& val)
-    {
-        for (value_type& v : *this)
-            v /= val;
-    }
-
-    friend inline
-    VectorSpace operator+(const VectorSpace& lhs, const value_type& rhs)
-    {
-        VectorSpace vs {lhs};
-        vs += rhs;
-        return vs;
-    }
-
-    friend inline
-    VectorSpace operator+(const value_type& lhs, const VectorSpace& rhs)
-    {
-        return operator+(rhs, lhs);
-    }
-
-    friend inline
-    VectorSpace operator*(const VectorSpace& lhs, const value_type& rhs)
-    {
-        VectorSpace vs {lhs};
-        vs *= rhs;
-        return vs;
-    }
-
-    friend inline
-    VectorSpace operator*(const value_type& lhs, const VectorSpace& rhs)
-    {
-        return operator*(rhs, lhs);
-    }
-
-    friend inline
-    VectorSpace operator/(const VectorSpace& lhs, const value_type& rhs)
-    {
-        VectorSpace vs {lhs};
-        vs /= rhs;
-        return vs;
-    }
-
-    friend inline
-    VectorSpace operator/(const value_type& lhs, const VectorSpace& rhs)
-    {
-        VectorSpace vs;
-        for (auto n = 0; n < vs.size(); ++n)
-            vs[n] = lhs / rhs[n];
-        return vs;
-    }
-
-    // vector versus vector (per element operations)
-
-    inline
-    void operator*=(const VectorSpace& vs)
-    {
-        for (auto n = 0; n < Size; ++n)
-            (*this)[n] *= vs[n];
-    }
-
-    inline
-    void operator+=(const VectorSpace& vs)
-    {
-        for (auto n = 0; n < Size; ++n)
-            (*this)[n] += vs[n];
-    }
-
-    inline
-    void operator-=(const VectorSpace& vs)
-    {
-        for (auto n = 0; n < Size; ++n)
-            (*this)[n] -= vs[n];
-    }
-
-    inline
-    void operator/=(const VectorSpace& vs)
-    {
-        for (auto n = 0; n < Size; ++n)
-            (*this)[n] /= vs[n];
-    }
-
-    friend inline
-    VectorSpace operator+(const VectorSpace& lhs, const VectorSpace& rhs)
-    {
-        VectorSpace vs {lhs};
-        vs += rhs;
-        return vs;
-    }
-
-    friend inline
-    VectorSpace operator-(const VectorSpace& lhs, const VectorSpace& rhs)
-    {
-        VectorSpace vs {lhs};
-        vs -= rhs;
-        return vs;
-    }
-
-    friend inline
-    VectorSpace operator*(const VectorSpace& lhs, const VectorSpace& rhs)
-    {
-        VectorSpace vs {lhs};
-        vs *= rhs;
-        return vs;
-    }
-
-    friend inline
-    VectorSpace operator/(const VectorSpace& lhs, const VectorSpace& rhs)
-    {
-        VectorSpace vs {lhs};
-        vs /= rhs;
-        return vs;
-    }
-
-    friend inline
-    bool operator==(const VectorSpace& lhs, const VectorSpace& rhs)
-    {
-        for (auto n = 0; n < Size; ++n)
-            if (lhs[n] != rhs[n])
-                return false;
-        return true;
-    }
-
-    friend inline
-    bool operator!=(const VectorSpace& lhs, const VectorSpace& rhs)
-    {
-        return !(lhs == rhs);
+        for (auto n = 0; n < svs.size(); ++n)
+            (*this)[n] = svs[n];
+        (*this)[svs.size()] = v;
     }
 
+    //! copy constructor from greater vector
+    template <Size GS> requires (GS > S)
+    constexpr explicit
+    Vector(const Vector<Type, GS>& vs) :
+        base {vs.begin(), vs.begin() + S}
+    {}
 
 };
 
-template <typename Type, size_t Size>
+// global operators
+
+template <IsReal T, Size S> inline Vector<T, S> operator+(const Vector<T, S>& lhs) { Vector<T, S> vs; for (Size n = 0; n < S; ++n) vs[n] = lhs[n]; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator-(const Vector<T, S>& lhs) { Vector<T, S> vs; for (Size n = 0; n < S; ++n) vs[n] = -lhs[n]; return vs; }
+
+template <IsReal T, Size S> inline Vector<T, S>& operator+=(Vector<T, S>& lhs, const Vector<T, S>& rhs) { for (Size n = 0; n < S; ++n) lhs[n] += rhs[n]; return lhs; }
+template <IsReal T, Size S> inline Vector<T, S>& operator-=(Vector<T, S>& lhs, const Vector<T, S>& rhs) { for (Size n = 0; n < S; ++n) lhs[n] -= rhs[n]; return lhs; }
+template <IsReal T, Size S> inline Vector<T, S>& operator*=(Vector<T, S>& lhs, const Vector<T, S>& rhs) { for (Size n = 0; n < S; ++n) lhs[n] *= rhs[n]; return lhs; }
+template <IsReal T, Size S> inline Vector<T, S>& operator/=(Vector<T, S>& lhs, const Vector<T, S>& rhs) { for (Size n = 0; n < S; ++n) lhs[n] /= rhs[n]; return lhs; }
+
+template <IsReal T, Size S> inline Vector<T, S> operator+(const Vector<T, S>& lhs, const Vector<T, S>& rhs) { Vector<T, S> vs {lhs}; for (Size n = 0; n < S; ++n) vs[n] += rhs[n]; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator-(const Vector<T, S>& lhs, const Vector<T, S>& rhs) { Vector<T, S> vs {lhs}; for (Size n = 0; n < S; ++n) vs[n] -= rhs[n]; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator*(const Vector<T, S>& lhs, const Vector<T, S>& rhs) { Vector<T, S> vs {lhs}; for (Size n = 0; n < S; ++n) vs[n] *= rhs[n]; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator/(const Vector<T, S>& lhs, const Vector<T, S>& rhs) { Vector<T, S> vs {lhs}; for (Size n = 0; n < S; ++n) vs[n] /= rhs[n]; return vs; }
+
+template <IsReal T, Size S> inline bool operator==(const Vector<T, S>& lhs, const Vector<T, S>& rhs) { for (Size n = 0; n < S; ++n) if (lhs[n] != rhs[n]) return false; return true; }
+template <IsReal T, Size S> inline bool operator!=(const Vector<T, S>& lhs, const Vector<T, S>& rhs) { for (Size n = 0; n < S; ++n) if (lhs[n] == rhs[n]) return false; return true; }
+
+
+template <IsReal T, Size S> inline Vector<T, S>& operator+=(Vector<T, S>& lhs, const T& rhs) { for (Size n = 0; n < S; ++n) lhs[n] += rhs; return lhs; }
+template <IsReal T, Size S> inline Vector<T, S>& operator-=(Vector<T, S>& lhs, const T& rhs) { for (Size n = 0; n < S; ++n) lhs[n] -= rhs; return lhs; }
+template <IsReal T, Size S> inline Vector<T, S>& operator*=(Vector<T, S>& lhs, const T& rhs) { for (Size n = 0; n < S; ++n) lhs[n] *= rhs; return lhs; }
+template <IsReal T, Size S> inline Vector<T, S>& operator/=(Vector<T, S>& lhs, const T& rhs) { for (Size n = 0; n < S; ++n) lhs[n] /= rhs; return lhs; }
+
+template <IsReal T, Size S> inline Vector<T, S> operator+(const Vector<T, S>& lhs, const T& rhs) { Vector<T, S> vs {lhs}; for (Size n = 0; n < S; ++n) vs[n] += rhs; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator-(const Vector<T, S>& lhs, const T& rhs) { Vector<T, S> vs {lhs}; for (Size n = 0; n < S; ++n) vs[n] -= rhs; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator*(const Vector<T, S>& lhs, const T& rhs) { Vector<T, S> vs {lhs}; for (Size n = 0; n < S; ++n) vs[n] *= rhs; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator/(const Vector<T, S>& lhs, const T& rhs) { Vector<T, S> vs {lhs}; for (Size n = 0; n < S; ++n) vs[n] /= rhs; return vs; }
+
+template <IsReal T, Size S> inline Vector<T, S> operator+(const T& lhs, const Vector<T, S>& rhs) { Vector<T, S> vs {rhs}; for (Size n = 0; n < S; ++n) vs[n] += lhs; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator-(const T& lhs, const Vector<T, S>& rhs) { Vector<T, S> vs {rhs}; for (Size n = 0; n < S; ++n) vs[n] -= lhs; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator*(const T& lhs, const Vector<T, S>& rhs) { Vector<T, S> vs {rhs}; for (Size n = 0; n < S; ++n) vs[n] *= lhs; return vs; }
+template <IsReal T, Size S> inline Vector<T, S> operator/(const T& lhs, const Vector<T, S>& rhs) { Vector<T, S> vs {rhs}; for (Size n = 0; n < S; ++n) vs[n] /= lhs; return vs; }
+
+// boolean operations
+
+template <typename Type, Size S>
 inline
-VectorSpace<bool, Size> equal(const VectorSpace<Type, Size>& lhs, const VectorSpace<Type, Size>& rhs, scalar precision = 1e-5)
+Vector<bool, S> equal(const Vector<Type, S>& lhs, const Vector<Type, S>& rhs, const scalar& precision = scalar::precision())
 {
-    VectorSpace<bool, Size> res;
-    for (auto n = 0; n < Size; ++n)
-        res[n] = equal(lhs[n], rhs[n], precision);
-    return res;
+    Vector<bool, S> vs;
+    for (auto n = 0; n < S; ++n)
+        vs[n] = equal(lhs[n], rhs[n], precision);
+    return vs;
 }
 
-template <typename Type, size_t Size>
+template <Size S>
 inline
-Type sum(const VectorSpace<Type, Size>& vs)
-{
-    Type sum {};
-    for (const Type& v : vs)
-        sum += v;
-    return sum;
-}
-
-template <typename Type, size_t Size>
-constexpr
-Type dot(const VectorSpace<Type, Size>& lhs, const VectorSpace<Type, Size>& rhs)
-{
-    return sum(lhs * rhs);
-}
-
-template <typename Type, size_t Size>
-inline
-Type length(const VectorSpace<Type, Size>& vs)
-{
-    return sqrt(dot(vs, vs));
-}
-
-template <typename Type, size_t Size>
-inline
-Type distance(const VectorSpace<Type, Size>& point1, const VectorSpace<Type, Size>& point2)
-{
-    return length(point1 - point2);
-}
-
-template <typename Type>
-constexpr
-VectorSpace<Type, 3> cross(const VectorSpace<Type, 3>& lhs, const VectorSpace<Type, 3>& rhs)
-{
-    return VectorSpace<Type, 3>(
-        lhs[1] * rhs[2] - lhs[2] * rhs[1],
-        lhs[2] * rhs[0] - lhs[0] * rhs[2],
-        lhs[0] * rhs[1] - lhs[1] * rhs[0]
-    );
-}
-
-template <typename Type, size_t Size>
-constexpr
-VectorSpace<Type, Size> pow(const VectorSpace<Type, Size>& vs, scalar degree)
-{
-    VectorSpace<Type, Size> res;
-    for (auto n = 0; n < Size; ++n)
-        res[n] = std::pow(vs[n], degree);
-    return res;
-}
-
-template <typename Type, size_t Size>
-constexpr
-VectorSpace<Type, Size> abs(const VectorSpace<Type, Size>& vs)
-{
-    VectorSpace<Type, Size> res;
-    for (auto n = 0; n < Size; ++n)
-        res[n] = std::abs(vs[n]);
-    return res;
-}
-
-template <typename Type, size_t Size>
-constexpr
-Type norm(const VectorSpace<Type, Size>& vs)
-{
-    return sqrt(sum(pow(abs(vs), 2)));
-}
-
-template <typename Type>
-constexpr
-Type angle(const VectorSpace<Type, 3>& lhs, const VectorSpace<Type, 3>& rhs)
-{
-    scalar cos = dot(lhs, rhs) / (norm(lhs) * norm(rhs));
-    return acos(cos); //clip(cos, -1., 1.));
-}
-
-template <typename Type, size_t Size>
-inline
-VectorSpace<Type, Size> normalize(const VectorSpace<Type, Size>& vs)
-{
-    return vs * inversesqrt(dot(vs, vs));
-}
-
-template <size_t Size>
-constexpr
-bool any(const VectorSpace<bool, Size>& vs)
+bool any(const Vector<bool, S>& vs)
 {
     bool res = false;
     for (auto e : vs)
@@ -388,9 +208,9 @@ bool any(const VectorSpace<bool, Size>& vs)
     return res;
 }
 
-template <size_t Size>
-constexpr
-bool all(const VectorSpace<bool, Size>& vs)
+template <Size S>
+inline
+bool all(const Vector<bool, S>& vs)
 {
     bool res = true;
     for (auto e : vs)
@@ -398,13 +218,111 @@ bool all(const VectorSpace<bool, Size>& vs)
     return res;
 }
 
-// Aliases
+// per element operations
 
-template <typename Type, size_t Size>
-using vec = VectorSpace<Type, Size>;
+template <typename Type, Size S>
+inline
+Vector<Type, S> abs(const Vector<Type, S>& vs)
+{
+    Vector<Type, S> res;
+    for (auto n = 0; n < S; ++n)
+        res[n] = abs(vs[n]);
+    return res;
+}
 
-using vec2 = VectorSpace<scalar, 2>;
-using vec3 = VectorSpace<scalar, 3>;
-using vec4 = VectorSpace<scalar, 4>;
+template <typename Type, Size S>
+inline
+Type sum(const Vector<Type, S>& vs)
+{
+    Type sum {};
+    for (const Type& v : vs)
+        sum += v;
+    return sum;
+}
+
+template <typename Type, Size S>
+inline
+Vector<Type, S> pow(const Vector<Type, S>& vs, scalar degree)
+{
+    Vector<Type, S> res;
+    for (auto n = 0; n < S; ++n)
+        res[n] = pow(vs[n], degree);
+    return res;
+}
+
+// vector operations
+
+template <typename Type, Size S>
+inline
+Type norm(const Vector<Type, S>& vs)
+{
+    return sqrt(sum(pow(abs(vs), 2)));
+}
+
+template <typename Type, Size S>
+inline
+Type dot(const Vector<Type, S>& lhs, const Vector<Type, S>& rhs)
+{
+    return sum(lhs * rhs);
+}
+
+template <typename Type, Size S>
+inline
+Type length(const Vector<Type, S>& vs)
+{
+    return sqrt(dot(vs, vs));
+}
+
+template <typename Type, Size S>
+inline
+Type mag(const Vector<Type, S>& vs)
+{
+    return length(vs);
+}
+
+template <typename Type, Size S>
+inline
+Type distance(const Vector<Type, S>& vs1, const Vector<Type, S>& vs2)
+{
+    return length(vs1 - vs2);
+}
+
+template <typename Type, Size S>
+inline
+Vector<Type, S> normalize(const Vector<Type, S>& vs)
+{
+    return vs * isqrt(dot(vs, vs));
+}
+
+template <typename Type>
+inline
+Type angle(const Vector<Type, 3>& lhs, const Vector<Type, 3>& rhs)
+{
+    scalar cos = dot(lhs, rhs) / (norm(lhs) * norm(rhs));
+    return acos(cos); //clip(cos, -1., 1.));
+}
+
+// vector 3 operations
+
+template <typename Type>
+inline
+Vector<Type, 3> cross(const Vector<Type, 3>& lhs, const Vector<Type, 3>& rhs)
+{
+    return Vector<Type, 3>(
+        lhs[1] * rhs[2] - lhs[2] * rhs[1],
+        lhs[2] * rhs[0] - lhs[0] * rhs[2],
+        lhs[0] * rhs[1] - lhs[1] * rhs[0]
+    );
+}
+
+
+// aliases
+
+template <typename Type, Size S>
+using vec = Vector<Type, S>;
+
+using vec2 = Vector<scalar, 2>;
+using vec3 = Vector<scalar, 3>;
+using vec4 = Vector<scalar, 4>;
 
 }